Composite electric adsorption gripper, control method and feeding and discharging equipment

Abstract

The invention discloses a composite electro-adsorption gripper, a control method and feeding and discharging equipment, and the composite electro-adsorption gripper comprises a power supply, a controller, a soft electrode, a variable stiffness electrode and an elastic dielectric medium; the soft electrode and the variable-stiffness electrode are embedded in the elastic dielectric medium, and the variable-stiffness electrode and the soft electrode are electrically connected with the power supply and the controller. According to the composite electro-adsorption gripper and the feeding and discharging equipment, conformal attachment can be achieved in a low-rigidity state, complex curved surface objects can be generally grabbed in a stable high-rigidity state, the composite electro-adsorption gripper and the feeding and discharging equipment can adapt to plane and concave-convex surface object surface shapes, the variety range of grabbed objects is widened, and the applicability is enhanced. And in the process of conformally grabbing the curved surface object, the structure is continuously in a high-rigidity state, no extra energy loss exists, and therefore the energy-saving and shape-preserving effects can be achieved. The problem of adsorption failure caused by the fact that an object is easy to peel off due to insufficient rigidity of the variable-rigidity adsorption gripper can be effectively avoided.

Description

Technical Field

[0001] The present invention belongs to the field of adsorption technology, and in particular relates to a composite electric adsorption gripper, a control method, and loading and unloading equipment. Background Art

[0002] Adsorption is ubiquitous in nature, broadening the living space and environment of people, animals and plants, and playing an irreplaceable role in daily life. Common artificial controllable adsorption methods include electromagnetic adsorption, negative pressure adsorption, eddy current adsorption, bionic adsorption, etc. The advantages and disadvantages of various adsorption methods are shown in Table 1.

[0003] Table 1 - Characteristics and disadvantages of common adsorption methods

[0004]

[0005] The several adsorption methods that are widely used at present have their own advantages and disadvantages, but there is a lack of an adsorption method with better environmental adaptability. Therefore, people gradually noticed electrostatic adsorption technology and began to apply it to the fields of climbing robots, active machine adsorption and tactile technology. Compared with other adsorption methods, the unique advantages of electrostatic adsorption include: (1) The electrostatic adsorption system has strong adaptability and can be used to adsorb most materials and surfaces; (2) It is suitable for dusty, low-pressure and vacuum environments; (3) Only low current (usually within the range) flows in the application, and the system energy consumption is low; (4) Lightweight and simple mechanical and control systems are used to reduce the complexity of the system; (5) Fragile or high-value materials can be adsorbed through non-contact suspension and soft electrostatic adsorption plates.

[0006] However, electrostatic adsorption (EA) also has disadvantages. It cannot be used to lift objects with limited contact area, such as springs, pins and office paper clips. Electromagnetic adsorption (MA) is not affected by the contact area and can be used to clamp various magnetic materials with small contact area.

[0007] Therefore, it is necessary to combine electrostatic adsorption with electromagnetic adsorption and adopt the concept of composite adsorption to manufacture an E / MA gripper. On the basis of EA adsorbable materials, it also includes magnetic conductive materials with limited contact area, which improves the applicability of the gripper.

[0008] In addition, for the adsorption device, we also need to consider whether the object is adsorbed firmly. When the traditional electrostatic adsorption soft gripper clamps heavy or complex materials, due to the low stiffness of the gripper, the gripper and the object are connected in the form of point force, which is prone to peeling, resulting in a significant reduction in adsorption force or failure. Therefore, the idea of ​​variable stiffness is proposed to convert point force into surface force and improve the tightness of adsorption between the gripper and the object. Summary of the invention

[0009] The purpose of the present invention is to provide a composite electric adsorption gripper, a control method and a loading and unloading device, which can realize conformal attachment and conformal grasping of flat and simple curved objects, and can prevent objects from falling, preserve shape and save energy.

[0010] In order to achieve the above-mentioned invention object, the first aspect of the present invention provides a composite electric adsorption gripper, comprising a power supply, a controller, a soft electrode, a variable stiffness electrode and an elastic dielectric; the soft electrode and the variable stiffness electrode are embedded in the elastic dielectric, and the variable stiffness electrode and the soft electrode are electrically connected to the power supply and the controller;

[0011] When the variable stiffness electrode is powered on, the variable stiffness electrode can be heated to make it have a low stiffness state. When the variable stiffness electrode is powered off, the heating is stopped to make it have a high stiffness state, thereby making the gripper maintain its shape.

[0012] When the soft electrode and the variable-rigidity electrode are energized simultaneously, the two can generate an adsorption force, causing the elastic dielectric to bend so as to adhere to a curved object.

[0013] Furthermore, the soft electrode and the variable stiffness electrode are manufactured by using 3D printing technology, and the shapes of the two are circular spiral coils or square thread circles.

[0014] Furthermore, the soft electrode is made of a stretchable soft conductive material; the variable stiffness electrode is made of a conductive material that can change stiffness when heated. The conductive material is solid at room temperature and can quickly change stiffness when powered on and heated, thereby changing the overall stiffness of the gripper.

[0015] In order to achieve the above-mentioned purpose of the invention, the second aspect of the present invention provides a loading and unloading equipment, including a moving device, a power output end of the moving device is fixed with any of the above-mentioned composite electric adsorption grippers, and the moving device can move the composite electric adsorption gripper to a target position.

[0016] Furthermore, it also includes a bracket, and the moving device includes an X-axis linear drive module, a Y-axis linear drive module and a Z-axis linear drive module; the X-axis linear drive module is fixed on the bracket, the Y-axis linear drive module is fixed to the power output end of the X-axis linear drive module, and the Z-axis linear drive module is fixed to the power output end of the Y-axis linear drive module.

[0017] In order to achieve the above-mentioned object of the invention, the third aspect of the present invention provides a control method of a composite electric adsorption gripper, comprising the following steps:

[0018] Powering the variable stiffness electrode to heat and melt the variable stiffness electrode, thereby reducing the overall stiffness of the gripper;

[0019] The soft electrode is electrified to generate an adsorption force, so that the elastic dielectric is bent and deformed for passively attaching a curved object;

[0020] Cutting off the power supply to the variable stiffness electrode to harden the variable stiffness electrode, so that the gripper as a whole is in a high stiffness state to achieve a shape-keeping effect;

[0021] Connecting the soft electrode to a high voltage to generate an electrostatic adsorption force to adsorb the curved surface object;

[0022] De-energizing the soft electrode and the variable-stiffness electrode to release the curved object;

[0023] Obtain object information to determine whether to absorb the same object;

[0024] Determine the next action to take based on the object information.

[0025] Furthermore, the step of determining the next operation to be taken according to the object information includes:

[0026] If the objects are the same, the gripper no longer needs to change shape, and can directly adsorb the objects by generating electrostatic adsorption force through the soft electrode;

[0027] If the object is a different object, the gripper needs to change its shape, that is, after re-performing the stiffness change and passive attachment process, the soft electrode is used to generate electrostatic adsorption force to adsorb the object.

[0028] Furthermore, after the gripper is passively attached to the curved surface object, the following steps are also included:

[0029] Detect the change in the overall capacitance of the gripper. During the process of changing stiffness and passive attachment, if the capacitance value of the gripper no longer changes, it is judged that the gripper and the adsorbed object are tightly connected.

[0030] When it is determined that the gripper is tightly connected to the curved object, the heating is stopped and the structure of the gripper returns to a high-rigidity state.

[0031] Furthermore, in the above control method, the gripper has the following three adsorption functions:

[0032] A. Electromagnetic adsorption function:

[0033] The electromagnetic adsorption function is realized by the soft electrode and the variable stiffness electrode. By adjusting the power supply and the controller, a high current is passed to one of the soft electrode and the variable stiffness electrode or the two electrodes connected in series, so that parallel current is passed through the two electrodes to increase the electromagnetic adsorption force. At this time, the gripper realizes the electromagnetic adsorption function.

[0034] B. Electrostatic-electromagnetic composite adsorption function:

[0035] The electrostatic-electromagnetic composite adsorption function is realized by the soft electrode and the variable stiffness electrode. By adjusting the power supply and the controller, the soft electrode is connected to a high voltage to provide an electrostatic adsorption force; the variable stiffness electrode is connected to a high current to provide an electromagnetic adsorption force. At this time, the gripper realizes the electrostatic adsorption and electromagnetic adsorption functions.

[0036] C. Variable stiffness electrostatic adsorption function:

[0037] The variable stiffness electrostatic adsorption function is realized by the soft electrode and the variable stiffness electrode. By adjusting the power supply and the controller, the variable stiffness electrode is first connected to a high current to heat and melt the electrode, and then the soft electrode is connected to a high voltage to generate an adsorption force for adhering to the surface of the object. After confirming that the gripper is tightly connected to the object, the variable stiffness electrode is powered off and the high voltage of the soft electrode is maintained to provide an electrostatic adsorption force. At this time, the gripper realizes the electrostatic adsorption function.

[0038] Furthermore, in the above control method, for flat objects, an electromagnetic adsorption function or an electrostatic-electromagnetic composite adsorption function is used; for curved objects, a variable stiffness electrostatic adsorption function is used.

[0039] The composite electro-adsorption gripper provided by the present invention can conformally adhere to objects with low stiffness and stably grasp objects with complex curved surfaces in a high stiffness state. In general, it has the following advantages:

[0040] (1) The adaptability is greatly improved, and it can adapt to the surface shapes of flat and concave and convex objects;

[0041] (2) The range of objects that can be grasped is expanded and the applicability is enhanced;

[0042] (3) During the conformal grasping of curved objects, the structure is continuously in a high stiffness state without any additional energy loss, thus achieving the effect of energy saving and conformal preservation;

[0043] (4) It can effectively avoid the problem of adsorption failure caused by the insufficient stiffness of the variable stiffness adsorption gripper, which causes the object to be easily peeled off. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1a-1d A working principle diagram of the basic design of the composite electrosorption gripper in an embodiment of the present invention;

[0045] Figure 2 It is a schematic diagram of the structure of the basic design of the composite electrosorption gripper in an embodiment of the present invention;

[0046] Figure 3 A working principle diagram of an improved design of a composite electrosorption gripper in an embodiment of the present invention;

[0047] Figure 4a and Figure 4b is a schematic diagram of the arrangement of electrodes in an embodiment of the present invention;

[0048] Figure 5 is a schematic diagram of the shape of the electrode cross section in an embodiment of the present invention;

[0049] Figure 6 is a system block diagram of a loading and unloading device in an embodiment of the present invention;

[0050] Figure 7 is a working flow chart of the composite electrosorption gripper in an embodiment of the present invention;

[0051] Figure 8 Schematic diagram of the morphological changes of the composite electro-adsorption gripper in an embodiment of the present invention during the process of adsorbing an object.

[0052] Description of reference numerals:

[0053] 1-soft electrode; 2-variable stiffness electrode; 3-elastic dielectric; 4-bracket; 5-X-axis linear drive module; 6-Z-axis linear drive module; 7-rotating motor; 8-object. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0055] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention; the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] This embodiment provides a composite electrosorption gripper. Figure 1a to Figure 1d, which includes a power supply, a controller, a soft electrode 1, a variable stiffness electrode 2 and an elastic dielectric 3; Figure 2 As shown, the soft electrode 1 and the variable stiffness electrode 2 are embedded in the elastic dielectric 3, the elastic dielectric 3 is an insulating material, and the variable stiffness electrode 2 and the soft electrode 1 are electrically connected to a power supply and a controller.

[0057] When the variable stiffness electrode 2 is powered on, the variable stiffness electrode 2 can be heated to have a low stiffness state. When the variable stiffness electrode 2 is powered off, the heating stops and the variable stiffness electrode 2 has a high stiffness state, thereby making the gripper have a shape-preserving effect. When the soft electrode 1 and the variable stiffness electrode 2 are powered on at the same time, the two can generate an adsorption force, causing the elastic dielectric 3 to bend to attach to a curved object.

[0058] Specifically, through the control of the electrodes by the power supply and the controller, the composite electric adsorption gripper provided in this embodiment has three different adsorption functions: electromagnetic adsorption, electrostatic-electromagnetic composite adsorption, and variable stiffness electrostatic adsorption. Figure 1a and Figure 1b As shown in the figure, by passing a high current through any electrode to generate electromagnetic adsorption force, the two electrodes can also be connected in series and passed through a high current to form a parallel current, thereby increasing the electromagnetic adsorption force. The working principle diagram of the electrostatic-electromagnetic composite adsorption function is shown in the figure Figure 1c As shown, connecting the soft electrode 1 to a high voltage and the variable stiffness electrode 2 to a high current can generate both electrostatic adsorption and electromagnetic adsorption. Figure 1d As shown, firstly, the variable stiffness electrode 2 is connected to a high current to heat and melt it, and then the soft electrode 1 is connected to a high voltage to generate an adsorption force for adhering to the surface of the object. After confirming that the gripper and the object are tightly connected, the variable stiffness electrode 2 is powered off and the high voltage of the soft electrode 1 is maintained. At this time, the gripper provides an electrostatic adsorption force for adsorbing curved objects.

[0059] It should be noted that when realizing the electromagnetic adsorption and electrostatic-electromagnetic adsorption functions, there is no need to consider the process of changing stiffness. Only when realizing the variable stiffness electrostatic adsorption function to adsorb curved objects, the process of changing stiffness and passive attachment is required to make the gripper and the surface of the object tightly connected, thereby effectively avoiding the problem of easy peeling of the object and adsorption failure due to insufficient stiffness of the composite electric adsorption device. Figure 3 As shown in the figure, since the basic design cannot achieve electrostatic-electromagnetic composite adsorption under variable stiffness conditions, a soft electrode 1 can be added to the original basic design. At this time, the variable stiffness electrode 2 is only responsible for changing the stiffness of the structure, one soft electrode 1 is connected to a high voltage to provide electrostatic adsorption force, and the other soft electrode 1 is connected to a high current to provide electromagnetic adsorption force. At this time, the gripper achieves electrostatic-electromagnetic composite adsorption under variable stiffness conditions.

[0060] It should be noted that the reason why the basic design cannot achieve electrostatic-electromagnetic composite adsorption under variable stiffness conditions is that if the variable stiffness electrode needs to provide electromagnetic adsorption force, it must be connected to a high current. At this time, the variable stiffness electrode is heated and melted, and the stiffness of the gripper structure changes and no longer maintains a fixed shape. Therefore, the basic design cannot achieve electrostatic-electromagnetic composite adsorption under variable stiffness conditions.

[0061] In some preferred embodiments, as shown in FIG4 , the geometric shapes of the soft electrode 1 and the variable stiffness electrode 2 can be designed in two ways, one is a circular spiral coil and the other is a square spiral coil. There are also two specific arrangements, one is to evenly radiate from the center to the surroundings, and the other is to evenly arrange in accordance with the specifications of n×n. There are no special requirements for the geometric shape and arrangement of the electrodes, and they can be freely combined according to the usage.

[0062] In some preferred embodiments, Figure 5 As shown, there is no fixed requirement for the cross-sectional shape of the electrode, and three shapes such as rectangle, square and circle can be used.

[0063] In some preferred embodiments, the soft electrode 1 and the variable stiffness electrode 2 are manufactured using 3D printing technology; the soft electrode 1 is made of a stretchable soft conductive material; the variable stiffness electrode 2 is made of a conductive material that can change its stiffness when heated. The conductive material is solid at room temperature and can quickly change its stiffness when powered on and heated, thereby changing the overall stiffness of the gripper.

[0064] The present embodiment further provides a loading and unloading device, comprising a moving device and a bracket 4. The composite electric adsorption gripper of the present embodiment is fixed to the power output end of the moving device, and the moving device can move the composite electric adsorption gripper to a target position.

[0065] Specifically, the moving device includes an X-axis linear drive module 5, a Y-axis linear drive module and a Z-axis linear drive module 6; the X-axis linear drive module 5 is fixed on the bracket 4, the Y-axis linear drive module is fixed to the power output end of the X-axis linear drive module 5, and the Z-axis linear drive module 6 is fixed to the power output end of the Y-axis linear drive module.

[0066] Furthermore, the moving device also includes a rotary motor 7. When the above-mentioned X, Y, and Z axis linear drive modules move the gripper to a certain target position in the three-dimensional space, the rotary motor 7 can drive the gripper to rotate the required angle in the horizontal direction, so that the gripper can be aligned with the object 8. Figure 6As shown, the computer and the data acquisition card are connected via a USB data cable, and the data acquisition card controls the three devices by being electrically connected to the power supply, the electrode driver, and the high-voltage amplifier. The high-voltage amplifier is connected to the soft electrode 1 to provide a high voltage to the soft electrode 1 to generate a large electrostatic adsorption force; the power supply is used to power the motor driver and the high-voltage amplifier on the one hand, and is connected to the variable stiffness electrode 2 on the other hand to provide a low voltage to the variable stiffness electrode 2 to generate an electromagnetic adsorption force; the motor driver is electrically connected to the rotating motor 7 to control the operation of the rotating motor 7 to realize the swing of the composite electric adsorption gripper.

[0067] Combination Figure 7 and Figure 8 As shown, this embodiment also provides a control method for the composite electric adsorption gripper, comprising the following steps:

[0068] S1, energizing the variable stiffness electrode 2 to melt the electrode and thereby reduce the overall stiffness of the device;

[0069] S2, energizing the soft electrode 1 to generate an adsorption force and causing the elastic dielectric 3 to bend and deform for passively attaching a curved surface object;

[0070] S3, turning off the power to the variable stiffness electrode 2 to harden the electrode, so that the gripper as a whole is in a high stiffness state to achieve a shape-keeping effect;

[0071] S4, connecting the soft electrode 1 to a high voltage to generate an electrostatic adsorption force to adsorb the curved surface object;

[0072] S5, power off the soft electrode 1 and the variable stiffness electrode 2 to release the curved surface object that is being adsorbed at that time;

[0073] S6, obtaining object information and determining whether to absorb the same object;

[0074] S7. Determine the next operation to be taken based on the object information.

[0075] It should be noted that in step S1, before energizing the variable stiffness electrode 2, the gripper needs to be moved to the object to be adsorbed, and then energize the variable stiffness electrode 2 to reduce the stiffness of the gripper. The object can be a flat surface object, or a curved surface object with a concave or convex surface.

[0076] In step S2, the soft electrodes 1 need to be energized at the same time to generate an electrostatic adsorption force, so that the object can be closely attached to the surface of the object under the action of the adsorption force.

[0077] In step S3, the variable stiffness electrode 2 is powered off to reduce the electrode temperature and solidify it, thereby increasing the overall stiffness of the component and maintaining its shape. This can effectively avoid the problem of easy peeling of objects and adsorption failure caused by insufficient gripper stiffness.

[0078] In step S4, only a high voltage is applied to the soft electrode 1 to generate an electrostatic adsorption force, and the variable stiffness electrode 2 is no longer energized to avoid changes in the structural shape. After the curved object is stably adsorbed, the motor driver controls the rotating motor 7, and the mobile device delivers the curved object to the target position.

[0079] In step S5, after the gripper is controlled to deliver the object to the target position, the soft electrode 1 is powered off, so that the curved object can be smoothly separated from the gripper.

[0080] In step S7 , the object to be grasped this time is compared with the object grasped previously according to the object information, and whether they are the same object determines whether the soft electrode 1 or the variable stiffness electrode 2 is energized.

[0081] In some preferred embodiments, the step of energizing the soft electrode 1 or the variable stiffness electrode 2 according to the object information specifically includes:

[0082] If the objects are the same, the gripper no longer needs to change its shape, and can directly adsorb the objects by generating electrostatic adsorption force through the soft electrode 1;

[0083] If the object is a different object, the gripper needs to change its shape, that is, after the stiffness change and passive attachment process are repeated, the soft electrode 1 generates an electrostatic adsorption force to adsorb the object.

[0084] It should be noted that if it is determined that the same object is being grasped, the process returns to step S4 to grasp the object; if it is determined that different objects are being grasped, the process returns to step S1 to repeat the stiffness changing and passive attachment process.

[0085] After step S7, if the object adsorption operation is completed, that is, the object is no longer grasped, the variable stiffness electrode 2 is energized and heated to soften it, so that the gripper returns to the initial state, that is, the flat state.

[0086] In summary, the composite electric adsorption gripper and loading and unloading equipment provided in this embodiment can conformally adhere in a low-rigidity state and universally grasp objects with complex curved surfaces in a stable high-rigidity state, and has the following advantages:

[0087] (1) The adaptability is greatly improved, and it can adapt to the surface shapes of flat and concave and convex objects;

[0088] (2) The range of objects that can be grasped is expanded and the applicability is enhanced;

[0089] (3) During the conformal grasping of curved objects, the structure is continuously in a high stiffness state without any additional energy loss, thus achieving the effect of energy saving and conformal preservation;

[0090] (4) It can effectively avoid the problem of adsorption failure caused by the insufficient stiffness of the variable stiffness adsorption gripper, which causes the object to be easily peeled off.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A composite electrosorption gripper, characterized in that: It includes a power supply, a controller, a soft electrode, a variable stiffness electrode and an elastic dielectric; the soft electrode and the variable stiffness electrode are embedded in the elastic dielectric, and the variable stiffness electrode and the soft electrode are electrically connected to the power supply and the controller; When the variable stiffness electrode is powered on, the variable stiffness electrode can be heated to make it have a low stiffness state. When the variable stiffness electrode is powered off, the heating is stopped to make it have a high stiffness state, thereby making the gripper maintain its shape. When the soft electrode and the variable-rigidity electrode are energized simultaneously, the two can generate an adsorption force, causing the elastic dielectric to bend so as to adhere to a curved object.

2. The composite electrosorption gripper according to claim 1, characterized in that: The soft electrode and the variable stiffness electrode are manufactured by using 3D printing technology, and both are in the shape of a circular spiral coil or a square threaded coil.

3. The composite electrosorption gripper according to claim 1, characterized in that: The soft electrode is made of a stretchable soft conductive material; the variable stiffness electrode is made of a conductive material that can change stiffness when heated. The conductive material is solid at room temperature and can quickly change stiffness when powered on and heated, thereby changing the overall stiffness of the gripper.

4. A loading and unloading device, comprising a moving device, characterized in that: The composite electro-adsorption gripper according to any one of claims 1 to 3 is fixed to the power output end of the moving device, and the moving device can move the composite electro-adsorption gripper to a target position.

5. The loading and unloading equipment according to claim 4, characterized in that: It also includes a bracket, and the moving device includes an X-axis linear drive module, a Y-axis linear drive module, and a Z-axis linear drive module; The X-axis linear drive module is fixed on the bracket, the Y-axis linear drive module is fixed to the power output end of the X-axis linear drive module, and the Z-axis linear drive module is fixed to the power output end of the Y-axis linear drive module.

6. A control method for the composite electrosorption gripper according to any one of claims 1 to 3, characterized in that: The steps include: Powering the variable stiffness electrode to heat and melt the variable stiffness electrode, thereby reducing the overall stiffness of the gripper; The soft electrode is electrified to generate an adsorption force, so that the elastic dielectric is bent and deformed for passively attaching a curved object; Cutting off the power supply to the variable stiffness electrode to harden the variable stiffness electrode, so that the gripper as a whole is in a high stiffness state to achieve a shape-keeping effect; Connecting the soft electrode to a high voltage to generate an electrostatic adsorption force to adsorb the curved surface object; De-energizing the soft electrode and the variable-stiffness electrode to release the curved object; Obtain object information to determine whether to absorb the same object; Determine the next action to take based on the object information.

7. The control method of the composite electric adsorption gripper according to claim 6, characterized in that: The next step of taking action according to the object information includes: If the objects are the same, the gripper no longer needs to change shape, and can directly adsorb the objects by generating electrostatic adsorption force through the soft electrode; If the object is a different object, the gripper needs to change its shape, that is, after re-performing the stiffness change and passive attachment process, the soft electrode is used to generate electrostatic adsorption force to adsorb the object.

8. The control method of the composite electric adsorption gripper according to claim 7, characterized in that: After the gripper passively attaches to the curved object, the following steps are also included: Detect the change in the overall capacitance of the gripper. During the process of changing stiffness and passive attachment, if the capacitance value of the gripper no longer changes, it is judged that the gripper and the adsorbed object are tightly connected. When it is determined that the gripper is tightly connected to the curved object, the heating is stopped and the structure of the gripper returns to a high-rigidity state.

9. The control method of the composite electric adsorption gripper according to claim 7, characterized in that: The gripper has the following three adsorption functions: A. Electromagnetic adsorption function: The electromagnetic adsorption function is realized by the soft electrode and the variable stiffness electrode. By adjusting the power supply and the controller, a high current is passed to one of the soft electrode and the variable stiffness electrode or the two electrodes connected in series, so that parallel current is passed through the two electrodes to increase the electromagnetic adsorption force. At this time, the gripper realizes the electromagnetic adsorption function. B. Electrostatic-electromagnetic composite adsorption function: The electrostatic-electromagnetic composite adsorption function is realized by the soft electrode and the variable stiffness electrode. By adjusting the power supply and the controller, the soft electrode is connected to a high voltage to provide an electrostatic adsorption force; the variable stiffness electrode is connected to a high current to provide an electromagnetic adsorption force. At this time, the gripper realizes the electrostatic adsorption and electromagnetic adsorption functions. C. Variable stiffness electrostatic adsorption function: The variable stiffness electrostatic adsorption function is realized by the soft electrode and the variable stiffness electrode. By adjusting the power supply and the controller, the variable stiffness electrode is first connected to a high current to heat and melt the electrode, and then the soft electrode is connected to a high voltage to generate an adsorption force for adhering to the surface of the object. After confirming that the gripper is tightly connected to the object, the variable stiffness electrode is powered off and the high voltage of the soft electrode is maintained to provide an electrostatic adsorption force. At this time, the gripper realizes the electrostatic adsorption function.

10. The control method of the composite electric adsorption gripper according to claim 9, characterized in that: For flat objects, electromagnetic adsorption function or electrostatic-electromagnetic composite adsorption function is used; For curved objects, variable stiffness electrostatic adsorption function is used.

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