A closed-gripping flexible manipulator based on a woven mesh structure

Abstract

The present invention discloses a closed grasping flexible manipulator based on a woven mesh structure. The pneumatic ring of the flexible manipulator is installed at the end of the manipulator body, the electromagnetic component is installed on the manipulator body and the pneumatic ring, and the root end of the grasping hand is installed at the end of the pneumatic ring; the electromagnetic component and the grasping hand are electrically connected to an external power supply device, and the pneumatic ring is communicated with an external air pump. The pneumatic ring of the present invention controls the opening size to reduce the difficulty of closing. The grasping single arm combines a torsion spring with thermosensitive plastic, and controls the temperature of the thermosensitive plastic by the on-off of a heating sheet to change the stiffness, thereby realizing the control of the deformation of the torsion spring and the deformation of the single arm of the manipulator. Through the high-low dislocation of the single arm of the manipulator and thermosensitive plastics with different thicknesses, the sequential deformation of the grasping single arm is realized, and they are superposed on each other to form a woven mesh structure, thereby realizing the function of closing the opening of the manipulator, so that the flexible manipulator of the present invention can well adapt to the shape of an object and can grasp multiple easily damaged objects at the same time.

Description

Technical Field

[0001] The present invention relates to a manipulator, and more particularly to a closed-gripping flexible manipulator based on a woven mesh structure. Background Art

[0002] Closed gripping means that the manipulator performs envelope gripping according to the shape of the object to be gripped, which has a strong function of shape adaptability and has been widely studied. It has good application prospects in fields such as resource exploration and energy exploration. Although the closed-gripping manipulator has various excellent performances, there are still problems such as complex control processes, difficulty in simultaneously gripping multiple easily damaged objects, and difficulty in the sealing method. These problems have greatly affected the application of the closed-gripping manipulator in various aspects. Summary of the Invention

[0003] In order to solve the problems in the background art, the present invention provides a closed-gripping flexible manipulator based on a woven mesh structure. The manipulator has good deformation ability through flexible materials, good load-bearing capacity through the woven mesh structure, and can reduce the size of the opening required and the difficulty of sealing through the pneumatic ring, and can safely grip multiple flexible objects and multiple brittle objects simultaneously.

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

[0005] The closed-gripping flexible manipulator based on the woven mesh structure of the present invention includes a manipulator main body, an electromagnetic component, a gripping hand, and a pneumatic ring. The pneumatic ring is installed at the end of the manipulator main body through hot melt adhesive. The electromagnetic component is installed on the manipulator main body and the pneumatic ring. The root end of the gripping hand is installed at the end of the pneumatic ring. The electromagnetic component and the gripping hand are electrically connected to an external power supply device, and the pneumatic ring is connected to an external air pump.

[0006] The electromagnetic component includes four electromagnets. The four electromagnets are evenly spaced and symmetrically arranged along the circumferential direction of the manipulator main body. Each electromagnet includes an electromagnet fixed part and an electromagnet moving part. The electromagnet fixed part is a two-segment bent part. One end of the electromagnet fixed part is installed on the outer side surface of the manipulator main body, and the other end of the electromagnet fixed part is located below the end of the pneumatic ring. The electromagnet moving part is a three-segment bent part. One end of the electromagnet moving part is connected to the inner side surface of the pneumatic ring, and the other end of the electromagnet moving part and the other end of the electromagnet fixed part are magnetically connected. The electromagnet fixed part is electrically connected to an external power supply device. The electromagnet fixed part and the electromagnet moving part are connected in the initial state to fix the shape of the pneumatic ring I, so that it still has a certain rigidity in the initial state.

[0007] The grasping hand includes four grasping single arms, which are symmetrically arranged at equal intervals along the circumferential direction of the inner side of the pneumatic ring. Each grasping single arm includes a manipulator deformation part, a manipulator fixing part, a strong torsion spring and a thermosensitive plastic sheet. The root end of the manipulator deformation part and the end of the manipulator fixing part are hinged by a connecting shaft. The root end of the manipulator fixing part is installed on the inner side of the pneumatic ring. The strong torsion spring and the thermosensitive plastic sheet are installed at both sides of the back of the hand of the manipulator deformation part and the manipulator fixing part at intervals and arranged along the arm length direction of the grasping single arm; a heating sheet is adhered to each thermosensitive plastic sheet, and each heating sheet is electrically connected to an external power supply device. An installation platform for an electromagnet fixing part is set at a position where one of the grasping single arms rotates 45° in any direction, and the inner side of the pneumatic ring is connected to the electromagnet fixed end by means of threaded connection; a grasping single arm is installed between every two electromagnets.

[0008] The two spring strips on both sides of the strong torsion spring are perpendicular to each other at 90° in the normal state; the two side parts of the thermosensitive plastic sheet are perpendicular to each other at 90° in the normal state.

[0009] Torsion spring through groove blocks are respectively arranged on the back of the hand of the manipulator deformation part and the manipulator fixing part. A through groove is opened along the arm length direction of the grasping single arm at the center of the torsion spring through groove block. The central axes of the through grooves of the two torsion spring through groove blocks are located on the same straight line. The two spring strips on both sides of the strong torsion spring respectively pass through the through grooves of the two torsion spring through groove blocks and are thus installed on the manipulator deformation part and the manipulator fixing part; the strong torsion spring bends towards the center of the grasping hand when bent.

[0010] The central folding angle of the thermosensitive plastic sheet is a circular bend to reduce the damage caused at the deformation part when it is stretched by the strong spring; the same side of the two ends of the thermosensitive plastic sheet is respectively connected to the back of the hand of the manipulator deformation part and the manipulator fixing part; the thermosensitive plastic sheet bends towards the center of the grasping hand when bent. The thermosensitive plastic is rigid at normal temperature and flexible after heating up.

[0011] The thickness of the thermosensitive plastic sheet of each grasping single arm increases by a preset thickness in sequence along the circumferential direction.

[0012] The length of the manipulator fixing part of each grasping single arm increases by a preset length in sequence along the circumferential direction. The shorter the length of the manipulator fixing part is, the thinner the thickness of the thermosensitive plastic sheet installed on it is. The sizes of the four manipulator fixing parts connected to the inner circle of the pneumatic ring are not the same, and they extend in sequence in the clockwise direction. After the thermosensitive plastic sheet is heated up, the strong torsion spring starts to deform in sequence, and finally the four manipulator single arms are superposed on each other to form a woven net structure.

[0013] The deformable part of the manipulator is in the shape of a fan blade. The root end of the deformable part of the manipulator is one of the straight edges and is perpendicular to the length direction of the grasping single arm. The other straight edge of the deformable part of the manipulator is parallel to the length direction of the grasping single arm. The arc edge of each deformable part of the manipulator is close to the other straight edge of an adjacent deformable part of the manipulator.

[0014] In the initial state of the flexible manipulator, the grasping single arms are in a vertical state, so that the two spring strips of the strong torsion spring are parallel to each other, the two side parts of the thermosensitive plastic sheet are both vertical, the electromagnetic body fixing part is connected to an external power supply device, the electromagnetic body fixing part and the electromagnetic body moving part are magnetically attracted to each other, and the pneumatic circle I is in a contracted state. When the flexible manipulator grasps an object to be grasped, the power supply to the electromagnetic body fixing part is disconnected, and air is introduced into the pneumatic circle I through an external air pump. The pneumatic circle I expands to become the pneumatic circle II, reducing the opening size of the manipulator body. The electromagnetic body fixing part and the electromagnetic body moving part move away from each other, and the various grasping single arms of the grasping hand move closer to each other, so that the object to be grasped is located at the center of each grasping single arm. Then, the heating sheets on each thermosensitive plastic sheet are connected to a preset temperature through an external power supply device. The thermosensitive plastic sheet changes from rigid to flexible after being heated. The two spring strips of the strong torsion spring return to a perpendicular state to each other, driving the deformable part of each grasping single arm to become parallel in sequence. Since the four thicknesses of the thermosensitive plastic are not consistent and decrease clockwise, the deformation sequence is clockwise. At the same time, the length of the manipulator fixing part increases clockwise. The thinner the thermosensitive plastic sheet of the grasping single arm, the shorter the manipulator fixing part, and the faster the deformable part of the manipulator deforms. The various grasping single arms deform in sequence and are superimposed on each other to form a net structure, completing the closing of the opening of the flexible manipulator to form a closed space. At this time, the power supply to each heating sheet is disconnected, and each thermosensitive plastic sheet changes from flexible to rigid. The flexible manipulator changes from the initial state to the torsion state, and the torsion shape is fixed by the thermosensitive plastic sheet that is rigid at normal temperature, completing the grasping of the object to be grasped.

[0015] When the flexible manipulator returns from the torsion shape to the initial state, then the heating sheets on each thermosensitive plastic sheet are connected to a preset temperature through an external power supply device. The thermosensitive plastic sheet changes from rigid to flexible after being heated. After it becomes soft, the torsion spring can be reopened. Subsequently, the power supply to the heating sheet on the thermosensitive plastic sheet is cut off, and the thermosensitive plastic sheet becomes rigid again to fix the strong torsion spring. At this time, the manipulator returns to the initial state.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. The present invention is designed to use a pneumatic closed loop to first reduce the opening size of the manipulator to reduce the problem that it is difficult to close the mouth of the manipulator during the closed grasping process. And by forming a closed space, the manipulator can grasp multiple objects at the same time. The flexible design of the manipulator during the grasping process enables it to safely grasp multiple flexible objects and multiple brittle objects at the same time.

[0018] 2. Install metal on the inner ring of the pneumatic ring and install an electromagnet outside the main body of the manipulator. In the initial state of the manipulator, the manipulator has a certain rigidity so that it will not be deformed or disordered during the process of grasping and enveloping an object.

[0019] 3. The four manipulators adopt a design method of high-low dislocation, and the thermosensitive plastics adopt a design method with different thicknesses so that they can be deformed in sequence and stacked on top of each other to form a woven structure, so as to increase the load-bearing capacity of the flexible manipulator.

[0020] 4. Adopt the combination of thermosensitive plastics and strong torsion springs to reduce the control difficulty of the manipulator, and the manufacturing cost is relatively low.

[0021] In summary, in the present invention, four grasping single arms are fixed on the side of the pneumatic ring, and the pneumatic ring controls the opening size of the manipulator, thereby reducing the difficulty of closing the opening of the closed structure. The electromagnet assembly is used to make the pneumatic ring have a certain rigidity even when not ventilated. The grasping single arm adopts the form of combining a strong torsion spring and thermosensitive plastics. The surface of the thermosensitive plastics adheres to a heating sheet. The temperature of the thermosensitive plastics is controlled by the on-off and power-off of the heating sheet to change its stiffness, so as to control the deformation of the strong torsion spring, and thus realize the deformation of the single arm of the manipulator. Through the design method of high-low dislocation of the four single arms of the manipulator and the use of thermosensitive plastics with different thicknesses, the sequential deformation of the grasping single arms is realized, and they are stacked on top of each other to form a woven structure, so as to perform the function of closing the opening of the manipulator. The flexible manipulator of the present invention can well adapt to the shape of an object and can grasp multiple easily damaged objects at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of the closed grasping flexible manipulator of the present invention;

[0023] Figure 2 is a schematic diagram of the structure of the grasping single arm of the closed grasping flexible manipulator of the present invention;

[0024] Figure 3 is a side view of the closed grasping flexible manipulator of the present invention;

[0025] Figure 4 is a schematic diagram of the structure when the closed grasping flexible manipulator of the present invention grasps an object;

[0026] In the figure: 1. Main body of the manipulator, 2. Electromagnet fixing part, 3. Electromagnet moving part, 4. Grasping single arm, 5. Pneumatic ring I, 6. Manipulator deformation part, 7. Manipulator fixing part, 8. Torsion spring, 9. Thermosensitive plastic sheet, 10. Pneumatic ring II, 11. Connecting shaft. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] As Figure 1 and Figure 3 shown, the closed grasping flexible manipulator based on a woven mesh structure of the present invention includes a manipulator body 1, an electromagnetic component, a grasping hand, and pneumatic rings 5 and 10. The pneumatic rings 5 and 10 are installed at the end of the manipulator body 1 by hot melt adhesive. The electromagnetic component is installed on the manipulator body 1 and the pneumatic rings 5 and 10. The root end of the grasping hand is installed at the end of the pneumatic rings 5 and 10. The electromagnetic component and the grasping hand are electrically connected to an external power supply device, and the pneumatic rings 5 and 10 are connected to an external air pump.

[0029] The electromagnetic component includes four electromagnets. The four electromagnets are evenly spaced and symmetrically arranged along the circumferential direction of the manipulator body 1. Each electromagnet includes an electromagnet fixed part 2 and an electromagnet moving part 3. The electromagnet fixed part 2 is a two-segment bent part. One end of the electromagnet fixed part 2 is installed on the outer side surface of the manipulator body 1, and the other end of the electromagnet fixed part 2 is located below the end of the pneumatic rings 5 and 10. The electromagnet moving part 3 is a three-segment bent part. One end of the electromagnet moving part 3 is connected to the inner side surface of the pneumatic rings 5 and 10, and the other end of the electromagnet moving part 3 and the other end of the electromagnet fixed part 2 are magnetically connected. The electromagnet fixed part 2 is electrically connected to an external power supply device. The electromagnet fixed part 2 and the electromagnet moving part 3 are connected in the initial state to fix the shape of the pneumatic ring I5, so that it still has a certain rigidity in the initial state.

[0030] As Figure 2 shown, the grasping hand includes four grasping single arms 4. The four grasping single arms 4 are evenly spaced and symmetrically arranged along the circumferential direction of the inner side surface of the pneumatic rings 5 and 10. Each grasping single arm 4 includes a manipulator deformation part 6, a manipulator fixed part 7, a strong torsion spring 8, and a thermosensitive plastic sheet 9. The root end of the manipulator deformation part 6 and the end of the manipulator fixed part 7 are hinged by a connecting shaft 11. The root end of the manipulator fixed part 7 is installed on the inner side surface of the pneumatic rings 5 and 10. The strong torsion spring 8 and the thermosensitive plastic sheet 9 are installed at intervals on both sides of the back of the manipulator deformation part 6 and the manipulator fixed part 7 and are arranged along the arm length direction of the grasping single arm 4. A heating sheet is adhered to each thermosensitive plastic sheet 9, and each heating sheet is electrically connected to an external power supply device. An installation platform for the electromagnet fixed part 2 is provided at a position where one of the grasping single arms 4 rotates 45° in any direction. The inner side of the pneumatic rings 5 and 10 is connected to the electromagnet fixed end 2 by means of threaded connection; a grasping single arm 4 is installed between every two electromagnets. The two spring strips of the strong torsion spring 8 are perpendicular to each other at 90° in the normal state; the two side parts of the thermosensitive plastic sheet 9 are perpendicular to each other at 90° in the normal state.

[0031] On the back surfaces of the manipulator deformation part 6 and the manipulator fixing part 7, there are respectively provided torsion spring through groove blocks. A through groove is provided along the arm length direction of the grasping single arm 4 at the center of the torsion spring through groove block. The central axes of the through grooves of the two torsion spring through groove blocks are located on the same straight line. The two side spring strips of the powerful torsion spring 8 respectively pass through the through grooves of the two torsion spring through groove blocks and are thus installed on the manipulator deformation part 6 and the manipulator fixing part 7; when the powerful torsion spring 8 bends, it bends towards the center of the grasping hand.

[0032] The central fold angle of the thermosensitive plastic sheet 9 is a circular bend to reduce the damage caused at the deformation part when it is stretched by the powerful spring 8; the same side surfaces at both ends of the thermosensitive plastic sheet 9 are respectively connected to the back surfaces of the manipulator deformation part 6 and the manipulator fixing part 7; when the thermosensitive plastic sheet 9 bends, it bends towards the center of the grasping hand. The thermosensitive plastic is rigid at normal temperature and flexible after heating up.

[0033] The thickness of the thermosensitive plastic sheet 9 of each grasping single arm 4 increases by a preset thickness sequentially along the circumferential direction. The length of the manipulator fixing part 7 of each grasping single arm 4 increases by a preset length sequentially along the circumferential direction. The shorter the length of the manipulator fixing part 7, the thinner the thickness of the thermosensitive plastic sheet 9 installed thereon. The sizes of the four manipulator fixing parts 7 connected to the inner circles of the pneumatic rings 5 and 10 are not the same, and they extend by 6 mm sequentially in the clockwise direction. After the thermosensitive plastic sheet 9 heats up, the powerful torsion spring 8 starts to deform in sequence, and finally the four manipulator single arms 4 are superposed on each other to form a mesh structure.

[0034] The manipulator deformation part 6 is a fan blade structure. The root end of the manipulator deformation part 6 is one of the straight sides and is perpendicular to the length direction of the grasping single arm 4. The other straight side of the manipulator deformation part 6 is parallel to the length direction of the grasping single arm 4. The arc side of each manipulator deformation part 6 is close to the other straight side of an adjacent manipulator deformation part 6.

[0035] Such as Figure 1As shown in the figure, the main body of the flexible manipulator of the present invention is made of a frustum-shaped plastic part, and the main body 1 of the manipulator can be prepared by 3D printing. The lower part of the main body 1 of the manipulator is connected to the outer side of the pneumatic ring 5 by hot melt adhesive. After the pneumatic ring is ventilated, it will expand and is in a flexible and contracted state in the initial state. The inner side of the pneumatic ring 5 is connected to the grasping single arm 4 by threads, and the four grasping single arms are arranged in a pairwise symmetric manner. At the same time, an installation platform for the electromagnetic body fixing part 2 is arranged at a position where one of the grasping single arms rotates 45° in any direction. The inner side of the pneumatic ring 5 is connected to the electromagnetic body fixing part by means of threaded connection. The electromagnetic body moving part 3 is connected to the main body 1 of the manipulator. The electromagnetic body fixing part 2 and the electromagnetic body moving part 3 are connected in the initial state. The electromagnetic body fixing part 2 is a metal right-angle bending part. The electromagnetic body moving part 3 remains magnetic after being energized and can be adsorbed to the metal, so as to realize the connection with the electromagnetic body fixing part 2, thereby fixing the shape of the pneumatic ring 5 and making it still have a certain rigidity in the initial state.

[0036] As Figure 2 shown, the grasping single arm 4 mainly consists of a manipulator deformation part 6 and a manipulator fixing part 7 connected by a rotating shaft 11. The manipulator fixing part is a "Z"-shaped rigid part, with two longitudinal through holes designed at one end and a transverse through hole designed at the other end. The two longitudinal through holes at one end are used to connect to the pneumatic ring 5, and the transverse through hole at the other end is connected to the manipulator deformation part 6 through the connecting shaft 11. The connecting shaft 11 is a smooth shaft. The manipulator deformation part 6 is a semi-circular rigid part. Torsion spring through grooves are designed in the middle of the structures of the manipulator deformation part 6 and the manipulator fixing part 7, and a strong torsion spring 8 with an initial shape of 90° is installed in the torsion spring through grooves. The thermosensitive plastic 9 is connected to the manipulator deformation part 6 and the manipulator fixing part 7 by means of threaded connection.

[0037] As Figure 3 shown, the sizes of the 4 manipulator fixing parts 7 connected to the inner ring of the pneumatic ring are not the same, and they are sequentially elongated by 6 mm in the clockwise direction. After the thermosensitive plastic 9 is heated, the strong torsion spring 8 starts to deform in sequence, and finally the 4 manipulator single arms 4 are superimposed on each other to form a woven net structure. The initial shape of the thermosensitive plastic 9 is a 90° bent shape and is connected to the manipulator deformation part 6 and the manipulator fixing part 7 at two end points respectively. The thermosensitive plastic is rigid at normal temperature and flexible after heating. Therefore, circular rings are designed at the corners to reduce the damage caused at the deformation points when it is stretched by the strong spring.

[0038] As Figure 4 shown, when the pneumatic ring 5 is ventilated, the opening of the main body 1 of the manipulator is greatly reduced, so the size requirements for the grasping single arm 4 of the closed structure are greatly reduced. After ventilation, the electromagnetic body fixing part 2 and the electromagnetic body moving part 3 are separated from each other.

[0039] The specific implementation and working process are as follows:

[0040] When the flexible manipulator is in the initial state, the grasping single arm 4 is in a vertical state, making the two spring strips on both sides of the strong torsion spring 8 parallel to each other. Both sides of the thermosensitive plastic sheet 9 are vertical. The electromagnet fixing part 2 is connected to an external power supply device. The electromagnet fixing part 2 and the electromagnet moving part 3 are magnetically attracted to each other. The pneumatic ring I 5 is in a contracted state. When the flexible manipulator grasps an object to be grasped, the power supply to the electromagnet fixing part 2 is disconnected, and air is introduced into the pneumatic ring I 5 through an external air pump. The pneumatic ring I 5 expands to become the pneumatic ring II 10, reducing the opening size of the manipulator body 1. At this time, the opening size of the manipulator body 1 is reduced from φ180mm to φ60mm. The electromagnet fixing part 2 and the electromagnet moving part 3 move away from each other, and the grasping single arms 4 of the gripper move closer to each other, so that the object to be grasped is located at the center of each grasping single arm 4. Then, the heating elements on each thermosensitive plastic sheet 9 are connected to a preset temperature through an external power supply device. The thermosensitive plastic sheet 9 changes from rigid to flexible after being heated. The two spring strips on both sides of the strong torsion spring 8 return to a perpendicular state to each other, driving the manipulator deformation parts 6 of each grasping single arm 4 to become parallel in sequence. Since the four thicknesses of the thermosensitive plastic 9 are not the same and decrease in a clockwise direction, its deformation sequence is clockwise. At the same time, the length of the manipulator fixing part 7 increases in a clockwise direction. The thinner the thermosensitive plastic sheet 9 of the grasping single arm 4, the shorter the manipulator fixing part 7, and the faster the manipulator deformation part 6 deforms. Each grasping single arm 4 deforms in sequence and overlaps with each other to form a woven net structure, completing the closure of the opening of the flexible manipulator to form a closed space. At this time, the power supply to each heating element is disconnected, and each thermosensitive plastic sheet 9 changes from flexible to rigid. The flexible manipulator changes from the initial state to the torsion state, and the torsion shape is fixed by the thermosensitive plastic 9 that is rigid at normal temperature, completing the grasping of the object to be grasped.

[0041] When the flexible manipulator returns from the torsion shape to the initial state, then the heating elements on each thermosensitive plastic sheet 9 are connected to a preset temperature through an external power supply device. The thermosensitive plastic sheet 9 changes from rigid to flexible after being heated. After it becomes soft, the torsion spring 8 can be reopened. Subsequently, the power supply to the heating elements on the thermosensitive plastic sheet 9 is disconnected, and the thermosensitive plastic sheet 9 becomes rigid again to fix the strong torsion spring 8. At this time, the manipulator returns to the initial state.

Claims

1. A closed-grip flexible manipulator based on a woven mesh structure, characterized in that: It includes a manipulator main body (1), an electromagnet assembly, a grasping hand, and pneumatic rings (5, 10). The pneumatic rings (5, 10) are installed at the end of the manipulator main body (1). The electromagnet assembly is installed on the manipulator main body (1) and the pneumatic rings (5, 10). The root end of the grasping hand is installed at the end of the pneumatic rings (5, 10). The electromagnet assembly and the grasping hand are electrically connected to an external power supply device, and the pneumatic rings (5, 10) are connected to an external air pump. The grasping hand includes four grasping single arms (4). The four grasping single arms (4) are symmetrically arranged at equal intervals along the circumferential direction of the inner side surface of the pneumatic rings (5, 10). Each grasping single arm (4) includes a manipulator deformation part (6), a manipulator fixing part (7), a torsion spring (8), and a thermosensitive plastic sheet (9). The root end of the manipulator deformation part (6) and the end of the manipulator fixing part (7) are hinged by a connecting shaft (11). The root end of the manipulator fixing part (7) is installed on the inner side surface of the pneumatic rings (5, 10). The torsion spring (8) and the thermosensitive plastic sheet (9) are installed at intervals on both sides of the back of the hand of the manipulator deformation part (6) and the manipulator fixing part (7) and are arranged along the arm length direction of the grasping single arm (4). A heating sheet is adhered to each thermosensitive plastic sheet (9), and each heating sheet is electrically connected to an external power supply device. The thickness of the thermosensitive plastic sheet (9) of each grasping single arm (4) increases sequentially along the circumferential direction by a preset thickness. The length of the manipulator fixing part (7) of each grasping single arm (4) increases sequentially along the circumferential direction by a preset length. The shorter the length of the manipulator fixing part (7), the thinner the thickness of the thermosensitive plastic sheet (9) installed thereon.

2. The closed grasping flexible manipulator based on a woven mesh structure according to claim 1, wherein: The electromagnet assembly includes four electromagnets. The four electromagnets are symmetrically arranged at equal intervals along the circumferential direction of the manipulator main body (1). Each electromagnet includes an electromagnet fixing part (2) and an electromagnet moving part (3). The electromagnet fixing part (2) is a two-segment bent part. One end of the electromagnet fixing part (2) is installed on the outer side surface of the manipulator main body (1), and the other end of the electromagnet fixing part (2) is located below the end of the pneumatic rings (5, 10). The electromagnet moving part (3) is a three-segment bent part. One end of the electromagnet moving part (3) is connected to the inner side surface of the pneumatic rings (5, 10), and the other end of the electromagnet moving part (3) and the other end of the electromagnet fixing part (2) are magnetically connected. The electromagnet fixing part (2) is electrically connected to an external power supply device.

3. The closed grasping flexible manipulator based on a woven mesh structure according to claim 1, wherein: The two spring strips on both sides of the torsion spring (8) are perpendicular to each other at 90° in the normal state; the two side parts of the thermosensitive plastic sheet (9) are perpendicular to each other at 90° in the normal state.

4. The closed grasping flexible manipulator based on a woven mesh structure according to claim 3, wherein: Torsion spring through groove blocks are respectively provided on the back of the hand of the manipulator deformation part (6) and the manipulator fixing part (7). A through groove is opened along the arm length direction of the grasping single arm (4) at the center of the torsion spring through groove block. The central axes of the through grooves of the two torsion spring through groove blocks are located on the same straight line. The two spring strips on both sides of the torsion spring (8) respectively pass through the through grooves of the two torsion spring through groove blocks and are thus installed on the manipulator deformation part (6) and the manipulator fixing part (7). The torsion spring (8) bends towards the center of the grasping hand when bent.

5. The closed grasping flexible manipulator based on a woven mesh structure according to claim 3, wherein: At the center folding angle of the described thermosensitive plastic sheet (9), there is a circular bending. The same side of both ends of the thermosensitive plastic sheet (9) is respectively connected to the back of the manipulator deformation part (6) and the manipulator fixing part (7). When the thermosensitive plastic sheet (9) bends, it bends towards the center of the grasping hand.

6. The enclosed grasping flexible manipulator based on a woven mesh structure according to claim 1, characterized in that: The described manipulator deformation part (6) is a fan-shaped structure. The root end of the manipulator deformation part (6) is one of the straight sides and is perpendicular to the length direction of the grasping single arm (4). The other straight side of the manipulator deformation part (6) is parallel to the length direction of the grasping single arm (4). The arc side of each manipulator deformation part (6) is close to the other straight side of an adjacent manipulator deformation part (6).

7. The grasping method of the closed grasping flexible manipulator according to any one of claims 1-6, characterized in that: When the flexible manipulator is in the initial state, the grasping single arm (4) is in a vertical state, so that the two spring strips of the torsion spring (8) are parallel to each other. Both sides of the thermosensitive plastic sheet (9) are vertical. The electromagnet fixing part (2) is connected to an external power supply device. The electromagnet fixing part (2) and the electromagnet moving part (3) are magnetically attracted to each other. The pneumatic ring I (5) is in a contracted state. When the flexible manipulator grasps an object to be grasped, the power supply of the electromagnet fixing part (2) is disconnected, and air is introduced into the pneumatic ring I (5) through an external air pump. The pneumatic ring I (5) expands to become the pneumatic ring II (10). The electromagnet fixing part (2) and the electromagnet moving part (3) move away from each other. The various grasping single arms (4) of the grasping hand approach each other, so that the object to be grasped is located at the center of the various grasping single arms (4). Then, the heating sheets on each thermosensitive plastic sheet (9) are connected to an external power supply device and heated to a preset temperature. The thermosensitive plastic sheet (9) changes from rigid to flexible after heating. The two spring strips of the torsion spring (8) return to a mutually perpendicular state, driving the manipulator deformation part (6) of each grasping single arm (4) to become parallel in sequence. The thinner the thermosensitive plastic sheet (9) of the grasping single arm (4) and the shorter the manipulator fixing part (7), the faster the manipulator deformation part (6) deforms. The various grasping single arms (4) deform in sequence and are superimposed on each other to form a woven structure, completing the closure of the opening of the flexible manipulator to form a closed space. At this time, the power supply of each heating sheet is disconnected, and each thermosensitive plastic sheet (9) changes from flexible to rigid. The flexible manipulator changes from the initial state to the torsion state, completing the grasping of the object to be grasped.

Images