Mobile electrostatic adsorption grabbing system based on intelligent composite material and control method thereof

Abstract

The invention provides a mobile electrostatic adsorption grabbing system based on an intelligent composite material and a control method of the mobile electrostatic adsorption grabbing system, and relates to the technical field of mobile grabbing, the mobile electrostatic adsorption grabbing system based on the intelligent composite material comprises a mobile vehicle, a flexible mechanical arm and an adsorption gripper, the flexible mechanical arm is arranged on the mobile vehicle, and the adsorption gripper is arranged on the flexible mechanical arm; the adsorption gripper is arranged at the end, away from the moving vehicle, of the flexible mechanical arm. The adsorption gripper comprises a supporting frame, a supporting rod, a driving device, a resetting device, two connecting seats and two clamping jaws, each clamping jaw comprises a flexible electrostatic adsorption layer and a variable stiffness layer, the supporting frame is connected with the flexible mechanical arm, the supporting rod is installed on the supporting frame, the supporting rod is sleeved with the two connecting seats at intervals in the axial direction of the supporting rod, and the two connecting seats are connected with the driving device. Corresponding clamping jaws are installed at the bottom ends of the two connecting bases respectively, the two ends of the driving device are connected with the corresponding connecting bases respectively, and the two ends of the reset device are connected with the corresponding connecting bases respectively. The grabbing range, the grabbing load and the grabbing stability of the object can be increased.

Description

Technical Field

[0001] The present invention relates to the field of mobile grasping technology, and in particular to a mobile electrostatic adsorption grasping system based on intelligent composite materials and a control method thereof. Background Art

[0002] Electrostatic adsorption technology is an electrically controllable adsorption technology, which has the characteristics of adsorbing objects when powered on and desorbing objects when powered off. It has the advantages of strong adaptability, simple structure and control, low energy consumption and non-destructive adsorption. It is widely used in end effectors, tactile technology, mobile robots, active adsorption and space operations. Promoting the continuous maturity of electrostatic adsorption technology and further broadening the application of electrostatic adsorption technology have a profound impact on people's production and life.

[0003] In the related technology, the electrostatic adsorption grasping system mainly includes an installation carrier and an electrostatic adsorption gripper. The electrostatic adsorption gripper mainly includes a power control device and an electrostatic adsorption layer. The power control device is electrically connected to the electrostatic adsorption layer, so that the electrostatic adsorption layer can generate an electrostatic adsorption force when powered on to adsorb / grasp objects.

[0004] However, the electrostatic adsorption layer is relatively fixedly installed on the mounting carrier, and can usually only adsorb smaller objects. For larger objects, there are problems such as being unable to grasp or grasping them unstably. Therefore, the grasping range of objects by existing electrostatic adsorption grasping systems is generally limited. Summary of the invention

[0005] The problem solved by the present invention is how to increase the stable grasping range of the electrostatic adsorption gripper.

[0006] To solve the above problems, in the first aspect, the present invention provides a mobile electrostatic adsorption grasping system based on intelligent composite materials, including a mobile vehicle, a flexible robotic arm and an adsorption gripper, wherein the flexible robotic arm is arranged on the mobile vehicle, and the adsorption gripper is arranged at the end of the flexible robotic arm away from the mobile vehicle; the adsorption gripper includes a support frame, a support rod, a driving device, a reset device, two connecting seats and two clamps, the support frame is connected to the flexible robotic arm, the support rod is installed on the support frame, the two connecting seats are sleeved on the support rod along the axial direction of the support rod, the corresponding clamps are respectively installed at the bottom ends of the two connecting seats, the two ends of the driving device are respectively connected to the corresponding connecting seats, the driving device is used to drive the two connecting seats to move along the axial direction of the support rod, and the two ends of the reset device are respectively connected to the corresponding connecting seats.

[0007] Optionally, the adsorption gripper also includes a power control device, the clamp includes a flexible electrostatic adsorption layer, the flexible electrostatic adsorption layer includes a flexible electrode structure and a first flexible insulating layer, the first flexible insulating layer wraps the flexible electrode structure, and the power control device is electrically connected to the flexible electrode structure.

[0008] Optionally, the flexible electrode structure includes a first electrode and a second electrode, and the first electrode and the second electrode are arranged crosswise along an extension direction of the clamping jaw.

[0009] Optionally, the clamp also includes a variable stiffness layer parallel to and fitted with the flexible electrostatic adsorption layer, the variable stiffness layer of one clamp is located on the side of the flexible electrostatic adsorption layer away from the other clamp; the variable stiffness layer includes a plurality of electrostatic adsorption structures, the arrangement direction of the plurality of electrostatic adsorption structures is perpendicular to the extension direction of the clamp, and the power control device is electrically connected to the plurality of electrostatic adsorption structures.

[0010] Optionally, the electrostatic adsorption structure includes a second flexible insulating layer and a third electrode, and the second flexible insulating layer is wrapped around the third electrode; the third electrodes of two adjacent electrostatic adsorption structures are respectively electrically connected to the positive terminal and the negative terminal of the power control device.

[0011] Optionally, the support rod has a circular or polygonal cross-sectional shape along its own radial direction.

[0012] Optionally, the adsorption gripper further includes the permanent magnetic material layer and / or the friction member arranged at the connection between the connecting seat and the support rod.

[0013] Optionally, at least one of the resetting device, the driving device and the clamping jaw is detachably connected to the connecting seat.

[0014] Optionally, the driving device is a HASEL drive, a stacked dielectric elastomer drive, a shape memory alloy or a yarn drive, and / or the resetting device is a spring, a dielectric elastomer winding drive or a shape memory alloy.

[0015] The beneficial effects of the mobile electrostatic adsorption grasping system based on intelligent composite materials of the present invention are: objects can be grasped in the following ways, for example, controlling the mobile vehicle to drive the flexible robotic arm to move near the object to be grasped, controlling the flexible robotic arm to move the adsorption gripper to make the adsorption gripper close to the object until the object is between the two jaws of the adsorption gripper; then the driving device controls the two connecting seats in the working mode to drive the two jaws to move toward each other along the axial direction of the support rod to approach the object, and energizes the flexible electrostatic adsorption layer of the jaw to generate an electrostatic adsorption force to fit and adsorb the object, and then energizes the variable stiffness layer of the jaw, and the variable stiffness layer changes from a low stiffness state to a high stiffness state, thereby firmly locking the object on the basis of the jaw fitting the object, so as to realize the grasping action of the object, and at the same time avoids the problem of the flexible electrostatic adsorption gripper shaking when moving quickly. During this process, the reset device is compressed; then the mobile vehicle is controlled to drive the flexible mechanical arm and the adsorption gripper to move from the initial position to the target position, and the flexible electrostatic adsorption layer and the variable stiffness layer of the gripper are controlled to be powered off to lose the electrostatic adsorption force on the object and restore the variable stiffness layer to a low stiffness state to release the object. Then, depending on whether the next object to be grasped is the same object, it can be determined whether to reset the two grippers through the reset device, thereby completing the operation of moving the object from the initial position to the target position after grasping.

[0016] Compared with the suction gripper in the prior art, which may have the problem of unstable grasping when grasping objects of other sizes that are greater than its length, the two jaws of the suction gripper of the present application can move towards each other under the action of the driving device to grasp the object, and move away from each other under the resetting action of the resetting device to prepare for grasping objects of other sizes. In other words, the distance between the two jaws can be adjusted under the action of the driving device, and the flexible robotic arm can drive the suction gripper to have a more flexible range of movement, thereby realizing stable grasping operations for objects of different sizes (for example, lengths), effectively increasing the grasping range of objects.

[0017] In addition, the flexible robotic arm used in the present invention can reduce the weight of the entire grasping system compared to the rigid robotic arm used in the related art, thereby correspondingly increasing the grasping load of the object.

[0018] In a second aspect, the present invention provides a control method for a mobile electrostatic adsorption grasping system based on a smart composite material, based on the mobile electrostatic adsorption grasping system based on the smart composite material as described above, comprising the following steps:

[0019] Controlling the mobile vehicle to move to the vicinity of the object to be grasped, and controlling the flexible mechanical arm to move the adsorption gripper so that the adsorption gripper approaches the object until the object is between two clamping claws of the adsorption gripper;

[0020] Controlling the driving device of the suction gripper and the two clamping claws to drive the two clamping claws to approach and grasp the object;

[0021] Controlling the flexible mechanical arm to move the adsorption gripper to a target position;

[0022] Controlling the two clamping jaws to release the object;

[0023] The two clamping claws are reset by the reset device of the adsorption gripper.

[0024] According to the grasping requirements, the mobile vehicle is controlled to drive the flexible robotic arm to return to the original position or continue to grasp the object.

[0025] Therefore, since the control method of the mobile electrostatic adsorption grasping system based on the intelligent composite material is based on the mobile electrostatic adsorption grasping system based on the intelligent composite material as described above, the control method of the mobile electrostatic adsorption grasping system based on the intelligent composite material at least has all the technical effects of the mobile electrostatic adsorption grasping system based on the intelligent composite material as described above, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a partial enlargement of the adsorption gripper and a schematic diagram of the structure of the mobile electrostatic adsorption grasping system in an embodiment of the present invention.

[0027] Figure 2 It is a schematic diagram of the structure of the adsorption gripper grasping a planar object in an embodiment of the present invention.

[0028] Figure 3 It is a schematic diagram of the structure of the adsorption gripper grasping a curved surface object in an embodiment of the present invention.

[0029] Figure 4 The figure is a schematic diagram of the connection structure between the support rod and the connection seat in one embodiment of the present invention.

[0030] Figure 5 It is a schematic diagram of the connection structure between the support rod and the connecting seat in another embodiment of the present invention.

[0031] Figure 6 It is a schematic structural diagram of a connecting seat, a driving device and a resetting device in one embodiment of the present invention.

[0032] Figure 7 It is a schematic structural diagram of a connecting seat, a driving device and a resetting device in another embodiment of the present invention.

[0033] Figure 8 FIG. 1 is a schematic diagram of the structure of a HASEL driver in which the driving device is an embodiment of the present invention.

[0034] Fig. 9This is a schematic structural diagram of a stacked dielectric elastomer driver in another embodiment of the present invention.

[0035] Fig.10 Schematic diagram of the structure of a linear telescopic spring as the reset device in an embodiment of the present invention.

[0036] Fig.11 A schematic diagram of the connection structure between the connecting seat and the clamping claw in one embodiment of the present invention.

[0037] Fig.12 A schematic diagram of the connection structure between the connecting seat and the clamping claw in another embodiment of the present invention.

[0038] Fig.13 A schematic structural diagram of a method for applying power to a flexible electrostatic adsorption layer in an embodiment of the present invention.

[0039] Fig.14 A schematic structural diagram of a flexible electrode structure in an embodiment of the present invention.

[0040] Fig.15 A schematic structural diagram of a variable stiffness layer in an embodiment of the present invention.

[0041] Fig.16 A schematic structural diagram of a method for powering the variable stiffness layer in an embodiment of the present invention.

[0042] Fig.17 One of the flowchart diagrams of the control method of the mobile electrostatic adsorption grasping system in the embodiment of the present invention.

[0043] Fig.18 The second flow chart of the control method of the mobile electrostatic adsorption grasping system in the embodiment of the present invention.

[0044] Description of reference numerals:

[0045] 1-mobile vehicle; 2-flexible robotic arm; 3-adsorption gripper; 31-support frame; 32-support rod; 33-connecting seat; 34-driving device; 35-resetting device; 30-gripping jaw; 36-flexible electrostatic adsorption layer; 361-flexible electrode structure; 362-first flexible insulating layer; 37-variable stiffness layer; 371-electrostatic adsorption structure; 3711-second flexible insulating layer; 3712-third electrode; 3713-adhesive; 38-friction member; 39-power control device; 4-object. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0047] The Z axis in the drawings represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis represents the top, and the reverse direction of the Z axis represents the bottom; the X axis in the drawings represents the horizontal direction, and is designated as the left and right position, and the positive direction of the X axis represents the right side, and the reverse direction of the X axis represents the left side. It should also be noted that the aforementioned Z axis and X axis are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 a limitation to the present invention.

[0048] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0049] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0050] Among the related technologies, mobile grasping technology is a key technology in the industrialization process. It can autonomously navigate and operate, and replace human labor to work in complex environments. The mobile grasping system mainly includes a mobile platform, a robotic arm, and an end effector. Compared with traditional fixed grasping, it has a larger grasping range and can be applied to automated production, hazardous environment operations, space exploration, intelligent logistics, and healthcare. Existing mobile grasping systems are mostly based on rigid robotic arms and mechanical / flexible grippers, which have the advantages of high control accuracy and stable grasping.

[0051] Compared with mechanical / flexible grippers, flexible end effectors such as dielectric elastomer grippers and HASEL grippers have the advantages of light weight, low energy consumption, and simple structure. However, due to limited driving force, they can only grasp light and small objects.

[0052] Electrostatic adsorption technology is an electrically controllable adsorption technology. It has the characteristics of adsorbing objects when powered on and desorbing objects when powered off. It has the advantages of strong adaptability, simple structure and control, low energy consumption and non-destructive adsorption. It is widely used in end effectors, tactile technology, mobile robots, active adsorption and space operations.

[0053] In existing electrostatic adsorption grasping applications, the electrostatic adsorption grasping system mainly includes an installation carrier and an electrostatic adsorption gripper. The electrostatic adsorption gripper mainly includes a power control device and an electrostatic adsorption layer. The electrostatic adsorption layer is usually a sheet structure. The power control device is electrically connected to the electrostatic adsorption layer, so that the electrostatic adsorption layer can generate electrostatic adsorption force when power is turned on to adsorb objects.

[0054] However, since the electrostatic adsorption layer is relatively fixedly installed on the mounting carrier, it can usually only adsorb objects with a smaller length. For larger objects, there are problems such as being unable to grasp or grasping them unstably. Therefore, the existing electrostatic adsorption grasping system generally has a limited grasping range for objects.

[0055] In view of the problems existing in the above-mentioned related technologies, this embodiment provides a mobile electrostatic adsorption grasping system based on intelligent composite materials.

[0056] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a mobile electrostatic adsorption grasping system based on an intelligent composite material, comprising a mobile vehicle 1, a flexible mechanical arm 2 and an adsorption gripper 3, wherein the flexible mechanical arm 2 is arranged on the mobile vehicle 1, and the adsorption gripper 3 is arranged at the end of the flexible mechanical arm 2 away from the mobile vehicle 1; the adsorption gripper 3 comprises a support frame 31, a support rod 32, a driving device 34, a resetting device 35, two connecting seats 33 and two clamps 30, wherein the support frame 31 is connected to the flexible mechanical arm 2, the support rod 32 is installed on the support frame 31, the two connecting seats 33 are sleeved on the support rod 32 along the axial direction of the support rod 32, the corresponding clamps 30 are respectively installed at the bottom ends of the two connecting seats 33, the two ends of the driving device 34 are respectively connected to the corresponding connecting seats 33, the driving device 34 is used to drive the two connecting seats 33 to move along the axial direction of the support rod 32, and the two ends of the resetting device 35 are respectively connected to the corresponding connecting seats 33.

[0057] Specifically, the mobile vehicle 1 may be a vehicle that can move along a set route, for example, a mobile unmanned vehicle.

[0058] In the related art, the mechanical arm used to grasp objects usually adopts a rigid mechanical arm, but the rigid mechanical arm is usually limited by its limited degree of freedom and can generally only be applied to scenes with larger spaces, resulting in limited applicable scenes. In addition, the rigid mechanical arm structure is bulky, which limits the maximum load of grasped objects to a certain extent. Therefore, the flexible mechanical arm 2 of the present invention can adopt a modular design. Specifically, the flexible mechanical arm 2 includes a rotary drive and a plurality of pneumatic bellows segments. The bellows can be made of flexible rubber and covered with soft fabric to prevent friction and wear. The rotary drive is specifically set according to needs and is used for the pneumatic bellows segments to swing, so that the flexible mechanical arm 2 has great flexibility in range and mobility, and is light in weight. It is suitable for complex unstructured environments such as scenes with narrow spaces, and also increases the maximum load of grasped objects to a certain extent.

[0059] In the working mode, the driving device 34 can drive the two clamping jaws 30 to move toward each other to approach the object; in the shut-down mode, the driving device 34 can drive the two clamping jaws 30 to move away from the object through the elastic restoring force of the reset device.

[0060] The adsorption gripper 3 can be installed at the end of the flexible robotic arm 2, and the adsorption gripper 3 is used to grasp or release the object 4, wherein the support frame 31 can be a U-shaped frame structure, so that when the two ends of the support rod 32 are installed on the open ends of the support frame 31 which is a U-shaped frame structure, the two connecting seats 33 can be installed on the support rod 32 for sliding at intervals and be restricted between the two ends of the U-shaped frame structure, so the maximum relative movement length between the two jaws 30 matches the distance between the two ends of the U-shaped frame structure.

[0061] The two connecting seats 33 are spaced apart along the axial direction of the support rod 32. Figure 2 The X-axis direction in the coordinate system is parallel, and a clamping claw 30 is installed at the bottom of each connecting seat 33. Figure 2 The end in the opposite direction of the Z axis in the coordinate system is the bottom end of the connecting seat 33 .

[0062] In this embodiment, the object 4 can be grasped in the following manner, for example, the mobile vehicle 1 is controlled to drive the flexible mechanical arm 2 to move near the object 4 to be grasped, and the flexible mechanical arm 2 is controlled to move the adsorption gripper 3 to make the adsorption gripper 3 close to the object 4 until the object 4 is between the two clamping claws 30 of the adsorption gripper 3; then the driving device 34 is in the working mode, controls the two connecting seats 33 to drive the two clamping claws 30 to move toward each other along the axial direction of the support rod to approach the object, and energizes the flexible electrostatic adsorption layers 36 of the two clamping claws 30 to generate The electrostatic adsorption force is used to fit and adsorb the object 4, and then the variable stiffness layer 37 of the two clamps 30 is energized, and the variable stiffness layer is changed from a low stiffness state to a high stiffness state, so that the object is firmly locked on the basis of the clamps fitting the object, so as to achieve the grasping action of the object 4. In this process, the reset device 35 is compressed; then the mobile vehicle is controlled to drive the flexible mechanical arm 2 and the adsorption gripper 3 to move from the initial position to the target position, and the driving device 34 and the flexible electrostatic adsorption layer 36 and the variable stiffness layer 37 of the clamp 30 are controlled to be de-energized to release the object. Then, according to whether the next object to be grasped is the same object, it can be determined whether to reset the two clamps through the reset device, so as to complete the operation of moving the object 4 from the initial position to the target position after grasping.

[0063] When the adsorption gripper 3 releases the object, the driving device 34 may not be powered off, and only the power is turned off by the clamping jaws 30 to make the adsorption force disappear, so as to realize the release of the object; when it is necessary to grasp the object again, if the object to be grasped is the same object (i.e., the object of the same size as the last grasped object), the driving device 34 is still in the working mode, the distance between the two connecting seats 33 remains unchanged, and the two clamping jaws are powered on again to adsorb the same object through the electrostatic adsorption force generated by the two clamping jaws; when it is necessary to grasp a different object (i.e., an object of another size), The driving device 34 is switched to the shutdown mode. At this time, the restoring force of the reset device 35 can be used to drive the two connecting seats 33 to slide in the axial direction of the support rod 32, thereby driving the two clamping jaws 30 to separate quickly until they return to their original position. Then, the driving device 34 is switched to the working mode to drive the two clamping jaws 30 to approach the new object again, and then the electrostatic adsorption layer 36 and the variable stiffness layer 37 of the two clamping jaws 30 are energized to grasp the new object through the electrostatic adsorption force generated by the two clamping jaws 30, thereby realizing the grasping operation of objects of different sizes.

[0064] Compared with the prior art suction gripper 3 which may have the problem of unstable grasping when grasping objects 4 of other sizes greater than its length, the two clamping claws 30 of the suction gripper 3 of the present application can move towards each other under the action of the driving device 34 to grasp the object 4, and move back to back under the resetting action of the resetting device 35 to prepare for grasping objects of other sizes. In other words, the distance between the two clamping claws 30 can be adjusted under the action of the driving device 34, and the flexible mechanical arm 2 can drive the suction gripper 3 to move more flexibly, so as to realize the stable grasping operation of objects 4 of different sizes (such as lengths), and effectively increase the grasping range of the object 4. The mobile vehicle 1 can carry the flexible mechanical arm 2, the suction gripper 3 and the object 4 to move, and further realize long-distance grasping on the basis of increasing the grasping range.

[0065] Optionally, combined Fig.13 As shown, the adsorption gripper 3 also includes a power control device 39, the clamp 30 includes a flexible electrostatic adsorption layer 36, the flexible electrostatic adsorption layer 36 includes a flexible electrode structure 361 and a first flexible insulating layer 362, the first flexible insulating layer 362 wraps the flexible electrode structure 361, and the power control device 39 is electrically connected to the flexible electrode structure 361.

[0066] Specifically, the first flexible insulating layer 362 wraps the flexible electrode structure 361 from the outside. In other words, the flexible electrode structure 361 is embedded in the first flexible insulating layer 362. The power control device 39 is electrically connected to the flexible electrode structure 361 to energize the flexible electrode structure 361 so that the flexible electrode structure 361 generates an electrostatic adsorption force. The first flexible insulating layer 362 can be made of an insulating material with a high dielectric constant to increase the electrostatic adsorption force while ensuring the insulation performance.

[0067] In this optional embodiment, since the first flexible insulating layer 362 is wrapped around the outside of the flexible electrode structure 361, the first flexible insulating layer 362 can be used to insulate the flexible electrode structure 361 to avoid electric shock accidents. Since the power control device 39 is electrically connected to the flexible electrode structure 361, when the power control device 39 energizes the flexible electrode structure 361, high voltage is applied to the flexible electrode structure 361 to generate a high voltage electric field, so that the grasped object 4 is polarized under the high voltage electric field to generate a charge with a polarity opposite to the internal charge polarity of the flexible electrode structure 361, so as to utilize the principle of attraction between positive and negative charges, so that the flexible electrode structure 361 electrostatically adsorbs the object 4, and the grasping operation of the object 4 is realized; when the power control device 39 disconnects the power supply to the flexible electrode structure 361, the electrostatic adsorption force of the flexible electrode structure 361 on the object 4 disappears, so that the object 4 can be released.

[0068] Optionally, combined Fig.14As shown, the flexible electrode structure 361 includes a first electrode and a second electrode, and the first electrode and the second electrode are arranged in a cross pattern.

[0069] Specifically, the first electrode and the second electrode are arranged crosswise along the extension direction of the flexible electrode structure 361, wherein the extension direction of the clamping jaw 30 is Figure 1 The first electrode and the second electrode are arranged crosswise along the extension direction of the clamp 30, which means that along the extension direction of the flexible electrode structure 361, the comb teeth of the second electrode are accommodated at the comb teeth gap of the first electrode, and the comb teeth of the first electrode are accommodated at the comb teeth gap of the second electrode, and the comb teeth of the first electrode and the second electrode are arranged in a staggered manner.

[0070] The power supply control device 39 includes a high-voltage generator, and the high-voltage generator can be a positive and negative polarity DC high-voltage generator. The power supply control device 39, such as a positive and negative polarity DC high-voltage generator, includes a first output terminal and a first electric switch. The first output terminal is used to pass high-voltage negative charges and high-voltage positive charges with opposite polarities to the first electrode and the second electrode respectively through the first electric switch. Specifically, the first electrode is electrically connected to the negative end of the first output terminal of the power supply control device 39, and the second electrode is electrically connected to the positive end of the first output terminal of the power supply control device 39.

[0071] The flexible electrode structure 361 may adopt the following structure, for example Fig.13 The first electrode and the second electrode shown in the figure may be rectangular interdigitated electrodes respectively; or the flexible electrode structure 361 may be as follows Fig.14 The corrugated interdigital electrodes can effectively increase the distribution of the electric field in the inclined direction, and correspondingly increase the adsorption force on the object 4; for example, the first electrode and the second electrode of the flexible electrode structure 361 can also be ring electrodes respectively.

[0072] In this optional embodiment, since the first electrode and the second electrode are arranged along the extension direction of the flexible electrode structure 361, and the first electrode and the second electrode are arranged crosswise, the vertical length of the flexible electrode structure 361 is increased, and a larger object 4 can be adsorbed accordingly; since the first electrode and the second electrode are respectively negatively charged and positively charged, the polarities of the first electrode and the second electrode are opposite, thereby generating a Maxwell force, thereby deforming the flexible electrode structure 361 and the first flexible insulating layer 362, so that they can better adhere to the object 4, and utilize the electrostatic adsorption force generated by the flexible electrode structure 361 when powered on to achieve adsorption and grasping of the object 4.

[0073] Optionally, combined Fig.13 , Fig.15 and Fig.16As shown, the clamp 30 also includes a variable stiffness layer 37 which is parallel to and fitted with the flexible electrostatic adsorption layer 36, and the variable stiffness layer 37 of one clamp 30 is located on the side of the flexible electrostatic adsorption layer 36 away from the other clamp 30; the variable stiffness layer 37 includes a plurality of electrostatic adsorption structures 371, and the arrangement direction of the plurality of electrostatic adsorption structures 371 is perpendicular to the extension direction of the clamp 30, and the power control device 39 is electrically connected to the plurality of electrostatic adsorption structures 371.

[0074] Specifically, both jaws 30 include a variable stiffness layer 37, and the variable stiffness layer 37 of each jaw 30 is arranged on the side of the flexible electrostatic adsorption layer 36 of the jaw 30 away from the other jaw 30. For example, the variable stiffness layer 37 of the left jaw 30 is arranged on the left side of the flexible electrostatic adsorption layer 36, and the variable stiffness layer 37 of the right jaw 30 is arranged on the right side of the flexible electrostatic adsorption layer 36.

[0075] The extension direction of the clamping jaw 30 is the vertical direction. Figure 1 The arrangement direction of the plurality of electrostatic adsorption structures 371 can be understood as a horizontal direction, and is parallel to the Z-axis direction. Fig.15 The plurality of electrostatic adsorption structures 371 may be arranged in a horizontal direction.

[0076] The power control device 39 includes a high-voltage generator, and the high-voltage generator can be a positive and negative polarity DC high-voltage generator. The power control device 39, such as a positive and negative polarity DC high-voltage generator, also includes a second output end and a second electric switch. The second output end is used to pass high-voltage negative electricity and high-voltage positive electricity with opposite polarities to two adjacent electrostatic adsorption structures 371 of the variable stiffness layer 37 through the second electric switch. Specifically, one electrostatic adsorption structure 371 is electrically connected to the negative end of the second output end of the power control device 39 through the second electric switch, and another adjacent electrostatic adsorption structure 371 is electrically connected to the positive end of the second output end of the power control device 39 through the second electric switch.

[0077] Among them, when the power control device 39 cuts off the power to the multiple electrostatic adsorption structures 371, the variable stiffness layer 37 is in a low stiffness state, and the entire clamp 30 is in a flexible state to adapt to the surface of the object 4. When the power control device 39 supplies power to the multiple electrostatic adsorption structures 371 to apply positive and negative high voltage electricity, the variable stiffness layer 37 is in a high stiffness state, which can make the entire variable stiffness layer 37 tightly adsorbed together under the action of the electrostatic adsorption force and hardened, so that the entire clamp 30 maintains the shape before power failure. The shape retention is to continuously maintain a certain shape.

[0078] In this optional embodiment, since the variable stiffness layer 37 of one of the clamps 30 is located on the side of the flexible electrostatic adsorption layer 36 away from the other clamp 30, when the object 4 begins to be adsorbed, the variable stiffness layer 37 maintains a low stiffness state, and the flexible electrostatic adsorption layer 36 of each clamp 30 is energized, which enables the entire clamp 30 to conformally adhere to the surface of the object in a flexible state, and at the same time enables the flexible electrostatic adsorption layer 36 of each clamp 30 to be directly adsorbed on the object 4; after the flexible electrostatic adsorption layer 36 adsorbs the object 4, the variable stiffness layer 37 can be energized, so that the variable stiffness layer 37 hardens and conforms to be in a high stiffness state when energized, thereby locking the object to avoid violent shaking of the adsorption gripper during rapid movement.

[0079] Optionally, combined Fig.15 and Fig.16 As shown, the electrostatic adsorption structure 371 includes a second flexible insulating layer 3711 and a third electrode 3712, and the second flexible insulating layer 3711 is wrapped around the third electrode 3712; the third electrodes 3712 of two adjacent electrostatic adsorption structures 371 are respectively electrically connected to the positive terminal and the negative terminal of the power control device 39.

[0080] Specifically, the second flexible insulating layer 3711 is wrapped around the third electrode 3712 from the outside to provide insulation protection for the third electrode 3712. The power control device 39, such as a positive and negative polarity DC high voltage generator, also includes a second output end and a second electrical switch. The second output end is used to pass high voltage negative electricity and high voltage positive electricity with opposite polarities to two adjacent third electrodes 3712 of the variable stiffness layer 37 through the second electrical switch.

[0081] By applying positive and negative high voltage electricity to adjacent third electrodes 3712 in the variable stiffness layer 37 respectively, a large number of positive and negative charges gathered inside the third electrode 3712 are attracted to each other, so that the initially dispersed multi-layer electrostatic adsorption structure 371 is adsorbed to each other to form an overall structure, thereby achieving the effect of variable stiffness.

[0082] In this optional embodiment, since the second flexible insulating layer 3711 is wrapped around the third electrode 3712, the third electrode 3712 can be insulated and protected by the second flexible insulating layer 3711 to avoid electric shock accidents. Since the power control device 39 is electrically connected to the adjacent third electrode 3712, when the power control device 39 cuts off the power to the third electrode 3712, the variable stiffness layer 37 is in a low stiffness state, so that the entire clamp 30 maintains a flexible state and can be deformed freely, so that it can conform to the surface of the object 4. When the power control device 39 is powered on to the third electrode 3712, the variable stiffness layer 37 is in a high stiffness state, so that the entire variable stiffness layer 37 can be tightly adsorbed together under the action of electrostatic adsorption force and hardened, so that the entire clamp 30 maintains the shape before power failure, and the shape retention is to continuously maintain a certain shape.

[0083] Combination Figure 2 As shown, the adsorption gripper 3 can adsorb an object 4 with a planar surface. Specifically, the power control device 39 is electrically connected to the flexible electrode structure 361 of the flexible electrostatic adsorption layer 36 so that the flexible electrode structure 361 generates an electrostatic adsorption force, which can adsorb an object 4 with a planar surface.

[0084] Combination Figure 3 As shown, the adsorption gripper 3 can also adsorb objects 4 with curved surfaces. Specifically, the power control device 39 is electrically connected to the flexible electrode structure 361, so that the flexible electrode structure 361 not only generates an adsorption force on the object 4 when powered on, but also causes the first flexible insulating layer 362 to bend and deform to adapt to the curved surface of the attached object 4, so as to achieve the adsorption and grasping operation of the object 4 with a curved surface. Subsequently, the variable stiffness layer 37 is powered on to make the variable stiffness layer 37 have high stiffness and thus be conformal, thereby not only achieving conformal adsorption and stable conformal grasping of the object 4 and improving adaptability, but also because in the process of conformal grasping of the object 4, the variable stiffness layer 37 is in a high stiffness state, which can effectively avoid the problem of adsorption failure due to easy peeling of the object 4 due to insufficient stiffness of the adsorption gripper 3, as well as the problem of swaying during rapid movement.

[0085] Optionally, the support rod 32 has a circular or polygonal cross-sectional shape along its own radial direction.

[0086] Specifically, if the support rod 32 is a cylindrical structure or a cylindrical structure, the radial cross section of the support rod 32 is circular; if the support rod 32 is a multi-prism structure, the radial cross section of the support rod 32 is polygonal. Of course, a strip groove can also be provided on the surface of the support rod with a cylindrical structure or a cylindrical structure, and the extension direction of the strip groove is parallel to the axial direction of the support rod 32. In this case, a strip protrusion is provided on the connecting seat, and the strip protrusion is inserted into the strip groove, so that when the connecting seat slides left and right on the support rod, it can also prevent the connecting seat from rotating around the support rod, and can also improve the stability of the object during the movement after grabbing.

[0087] In this optional embodiment, the support rod 32 has a circular radial cross-section, and the two clamping jaws 30 can slide toward or away from each other on the support rod 32 through the corresponding connecting seat 33 to improve the smoothness of the movement of the two clamping jaws 30 on the support rod 32.

[0088] The support rod 32 is a multi-prism structure. When the two clamping jaws 30 clamp an eccentric object 4, the support rod 32 can limit the axial rotation of the two clamping jaws 30 around the support rod 32, thereby correspondingly improving the grasping stability of the eccentric object 4.

[0089] Optionally, combined Figure 4 and Figure 5As shown, the adsorption gripper 3 further includes the permanent magnetic material layer and / or the friction member 38 arranged at the connection between the connection seat 33 and the support rod 32 .

[0090] Specifically, combined Figure 4 As shown, the suction gripper 3 further includes a friction member 38, which can be a rubber layer, a foam layer, etc. The permanent magnetic material layer means that the contact surface of the support rod 32 and the connecting seat 33 can be coated with a permanent magnetic material and then magnetized to form a permanent magnetic material layer.

[0091] The permanent magnetic material layer may be provided only at the connection between the connection seat 33 and the support rod 32, or the friction member 38 may be provided only at the connection between the connection seat 33 and the support rod 32, or the permanent magnetic material layer may be provided first at the connection between the connection seat 33 and the support rod 32 and then the friction member 38 may be provided, in other words, the friction member 38 is sleeved on the outside of the permanent magnetic material layer.

[0092] In this optional embodiment, the permanent magnetic material layer and / or friction member 38 is provided at the connection between the connecting seat 33 and the support rod 32 to increase the weak friction force between the connecting seat 33 and the support rod 32, thereby ensuring the stability of the connecting seat 33 being mounted on the support rod 32 while taking into account the effectiveness of the sliding of the connecting seat 33 on the support rod 32.

[0093] Optionally, at least one of the resetting device 35 , the driving device 34 and the clamping jaw 30 is detachably connected to the connecting seat 33 .

[0094] Specifically, the driving device 34 and the resetting device 35 can be detachably connected to the connecting seat 33 in the following manner, for example, by combining Figure 6 As shown, the driving device 34 and the resetting device 35 can be connected and fixed to the connecting seat 33 by means of bolt fasteners. Figure 7 As shown, the driving device 34 and the resetting device 35 can be fixed to the connecting seat 33 by mortise and tenon structure.

[0095] The flexible electrostatic adsorption layer 36 and the variable stiffness layer 37 in the clamping jaw 30 can be detachably connected to the connecting seat 33 in the following manner, for example, by combining Fig.11 As shown, the clamping jaw 30 and the connecting seat 33 can be connected and fixed by bolt fasteners. Fig.12 As shown, the clamping jaw 30 and the connecting seat 33 can be fixed by mortise and tenon connection.

[0096] In this optional embodiment, since at least one of the reset device 35 , the drive device 34 and the clamping jaw 30 is detachably connected to the connecting base 33 , the convenience of disassembly, assembly and maintenance of at least one of the three and the connecting base 33 is improved.

[0097] Optionally, the driving device 34 is a HASEL driver, a stacked dielectric elastomer driver, a shape memory alloy or a yarn driver, and the resetting device 35 is a spring, a dielectric elastomer winding driver or a shape memory alloy.

[0098] Specifically, HASEL actuators and stacked dielectric elastomer actuators use the deformation of dielectrics under the action of electric fields to produce telescopic motion. Shape memory alloys can shrink and stretch linearly by heating.

[0099] Among them, the full Chinese name of the HASEL actuator is hydraulically amplified self-healing electrostatic actuator.

[0100] The HASEL driver may include a plurality of HASEL units arranged axially along the support rod 32, each HASEL unit consisting of a soft bag made of an insulating flexible film wrapped with an electrode and filled with a self-healing insulating liquid. The specific principle of the HASEL unit is that when voltage is applied to the electrodes, the positive and negative electrodes will attract each other, thereby squeezing the liquid in the elastic soft bag and changing the shape of the soft bag to simulate the contraction of human muscles.

[0101] Combination Figure 8 As shown, the HASEL driver is in an extended state in the shutdown mode (without power), and then in the working mode (with power), the HASEL driver begins to contract, at which time it can drive the two connecting seats 33 to move toward each other along the axial direction of the support rod 32 to approach the object 4.

[0102] Combination Fig. 9 As shown, the drive device 34 may be a stacked dielectric elastomer drive, wherein the stacked dielectric elastomer drive is a structure composed of a plurality of dielectric elastomer drives stacked, and each dielectric elastomer drive structure is composed of a dielectric elastomer and conductive electrodes coated on the upper and lower surfaces thereof. The power control device 39 is electrically connected to the drive device 34, and the stacked dielectric elastomer drive may adopt the following principle, for example, when working, an alternating electric field may be applied to the electrodes coated on the upper and lower surfaces of the dielectric elastomer layer by the power control device 39, and each dielectric elastomer drive structure is arranged vertically, and a plurality of dielectric elastomer layers are arranged along the extension direction of the support rod, so that the thickness of each dielectric elastomer layer becomes thinner under the extrusion of the electrostatic force, and the length of the stacked dielectric elastomer drive is shortened accordingly, so that the two connecting seats 33 and the two clamping jaws 30 can be driven to move toward each other to approach the object 4.

[0103] Shape memory alloy is a material composed of two or more metal elements that has shape memory effect through thermoelasticity and martensitic phase transformation and its inversion. The shape memory alloy can be shortened under electrical heating to drive the two clamping jaws 30 to move toward each other through the two connecting seats 33 to approach the object.

[0104] The yarn actuator is a retractable electrochemically driven artificial muscle made by twisting and winding carbon nanotubes or polymer yarns. It can make sensitive driving deformation responses to external stimuli (such as temperature, humidity, light, pH value and electricity). For example, it can produce contraction deformation in the working mode (such as power-on and light stimulation) to drive the two grippers to approach the object through two connecting seats.

[0105] In this embodiment, since the driving device 34 adopts a lightweight flexible linear drive such as a HASEL drive, a stacked dielectric elastomer drive, a shape memory alloy or a yarn drive, the weight of the overall adsorption gripper 3 can be reduced, thereby increasing the maximum load capacity of the mobile electrostatic adsorption grasping system.

[0106] The reset device 35 is a spring, a shape memory alloy or a dielectric elastomer driver.

[0107] Specifically, the spring can be a compression spring, see Fig.10 As shown; shape memory alloy or dielectric elastomer actuators are also prior art and will not be described in detail here.

[0108] The reset device 35 can be selected from any one of a spring, a shape memory alloy and a dielectric elastomer driver; wherein the dielectric elastomer driver is a structure composed of a plurality of dielectric layers and elastic layers arranged alternately, and each dielectric layer is arranged horizontally. The dielectric elastomer driver can adopt the following principle. For example, when working, an alternating electric field can be applied to the dielectric layer through the power control device 39, so that the thickness of each dielectric layer becomes thinner, and the dielectric layer is correspondingly extended and lengthened along the length direction of the support rod, and the length of the dielectric elastomer driver is correspondingly lengthened, thereby driving the two connecting seats 33 and the two clamping jaws 30 to move back to back to move away from the object 4.

[0109] Combination Fig.17 As shown, a control method of a mobile electrostatic adsorption grabbing system based on a smart composite material provided in an embodiment of the present invention, based on the mobile electrostatic adsorption grabbing system based on a smart composite material described in the above embodiment, comprises the following steps:

[0110] S1. Control the mobile vehicle 1 to move to the vicinity of the object 4 to be grasped, and control the flexible robotic arm 2 to move the adsorption gripper 3 so that the adsorption gripper 3 approaches the object 4 until the object 4 is between the two clamping jaws 30 of the adsorption gripper 3.

[0111] S2. Control the driving device 34 and the two clamps 30 of the adsorption gripper 3 to drive the two clamps 30 to approach and grasp the object 4; wherein, the driving device 34 can work in the working mode (power-on state) to drive the two connecting seats 33 to drive the two clamps 30 to approach the object 4, and the electrostatic adsorption layer 36 and the variable stiffness layer 37 in the two clamps 30 can generate an electrostatic adsorption force when power is on, so as to conformally adsorb and stably grasp the object 4.

[0112] S3, controlling the flexible robotic arm 2 to move the suction gripper 3 to the target position; wherein, in the above step S2, after the suction gripper 3 completes the grabbing action of the object 4, the flexible robotic arm 2 can be controlled to move the suction gripper 3 that has already grabbed the object 4 from the initial position to the target position. The initial position is the position of the object before it is grabbed.

[0113] S4, control the two clamps 30 to release the object 4; wherein, the flexible electrostatic adsorption layer 36 and the variable stiffness layer 37 of the two clamps 30 can be powered off to make the electrostatic adsorption force of the two clamps 30 disappear, and the object 4 can be separated from the two clamps 30.

[0114] S5. Reset the two clamps 30 through the resetting device 35 of the suction gripper 3. Specifically, according to the requirements of the grasping operation, it can be determined by the system or manually whether to reset the two clamps 30 through the resetting device 35 of the suction gripper 3; for example, if the object 4 of the same size is grasped next time, the driving device 34 is still in the working mode, and the resetting device 35 is still in the compressed state, that is, the resetting device 35 does not need to reset the two clamps 30; if the object 4 of a different size is grasped next time, the resetting device 35 uses its own elastic restoring force to reset the two clamps 30, so as to prepare for grasping objects 4 of other sizes.

[0115] S6. According to the grasping requirement, the mobile vehicle 1 is controlled to drive the flexible mechanical arm 2 to return to the original position or continue to grasp the object 4. Specifically, if it is no longer necessary to grasp the object, in other words, the operation of grasping the object is completed, the mobile vehicle 1 and the flexible mechanical arm 2 can be controlled to return to the original position, and the entire grasping operation is completed. If it is necessary to continue to grasp the object, the above steps are followed to continue to perform the grasping operation of the object.

[0116] The beneficial effects of the control method of the mobile electrostatic adsorption grasping system based on the smart composite material in this embodiment relative to the prior art are the same as those of the above-mentioned mobile electrostatic adsorption grasping system based on the smart composite material, which will not be repeated here.

[0117] The present invention can grasp and transfer the object 4 by adopting the following specific steps:

[0118] Combination Fig.18 As shown, specifically, at the beginning, the mobile vehicle 1 is controlled to move to the vicinity of the object 4 to be grasped; then the flexible robotic arm 2 can be manipulated to move the adsorption gripper 3 so that the adsorption gripper 3 is close to the object 4; the driving device 34 is switched to the working mode, for example, it is powered on to drive the corresponding two clamps 30 to approach the object 4 through the two connecting seats 33; when the two clamps 30 move toward each other on the support rod 32 to reach the specified position, the driving device 34 is switched to the shutdown mode, that is, the driving device 34 stops driving, and the two connecting seats no longer move; then the flexible electrostatic adsorption layer 36 can be powered on by the power control device 39, and the variable stiffness layer 37 remains in a flexible state, so that the flexible electrostatic adsorption layer 36 generates an electrostatic adsorption force to conformally adsorb the object 4, and then the variable stiffness layer 37 is powered on to change the variable stiffness layer 37 to a high stiffness state to lock the object, thereby achieving a stable grasping action of the object 4.

[0119] Next, the flexible robotic arm 2 is controlled to lift and move the adsorption gripper 3, and then the mobile vehicle 1 is controlled to move to the vicinity of the target position; the flexible robotic arm 2 is controlled to move the adsorption gripper 3 to the target position, and then the flexible electrostatic adsorption layer 36 and the variable stiffness layer 37 are powered off to release the object 4; the mobile vehicle 1, the flexible robotic arm 2 and the adsorption gripper 3 return to the initial position; according to whether there is the same object 4 to be grasped, it is determined whether to reset the two jaws 30 through the resetting device 35: if there is the same object 4 to be grasped, the two jaws 30 are not reset through the resetting device. At this time, when the object 4 is between the two jaws 30 of the adsorption gripper 3, the flexible electrostatic adsorption layer 36 and the variable stiffness layer 37 of the jaws 30 can be powered on to grasp the same object 4 again; if there is no same object 4 to be grasped, the driving device 34 is powered off, and the two jaws 30 are driven to reset through the two connecting seats 33 by using its own restoring force through the resetting device 35.

[0120] Subsequently, whether to continue grasping the object 4 is determined based on whether there are different objects 4 to be grasped: if there are objects 4 of different sizes to be grasped, the driving device 34 is energized when the object 4 is between the two clamps 30 of the adsorption gripper 3 to drive the two clamps 30 to approach the object 4 of a different size from the previous one again; if there are no different objects 4 to be grasped, the grasping operation is completed.

[0121] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A mobile electrostatic adsorption grabbing system based on intelligent composite materials, characterized in that: The invention comprises a mobile vehicle (1), a flexible mechanical arm (2) and an adsorption gripper (3), wherein the flexible mechanical arm (2) is arranged on the mobile vehicle (1), and the adsorption gripper (3) is arranged at the end of the flexible mechanical arm (2) away from the mobile vehicle (1); the adsorption gripper (3) comprises a support frame (31), a support rod (32), a driving device (34), a reset device (35), two connecting seats (33) and two clamping claws (30), wherein the support frame (31) is connected to the flexible mechanical arm (2), and the support rod (32) is connected to the flexible mechanical arm (2). The two connecting seats (33) are mounted on the support frame (31) at intervals along the axial direction of the support rod (32), the corresponding clamping claws (30) are respectively installed at the bottom ends of the two connecting seats (33), the two ends of the driving device (34) are respectively connected to the corresponding connecting seats (33), the driving device (34) is used to drive the two connecting seats (33) to move axially along the support rod (32), and the two ends of the resetting device (35) are respectively connected to the corresponding connecting seats (33).

2. The mobile electrostatic adsorption grabbing system based on intelligent composite materials according to claim 1 is characterized in that: The adsorption gripper (3) also includes a power control device (39), the clamp (30) includes a flexible electrostatic adsorption layer (36), the flexible electrostatic adsorption layer (36) includes a flexible electrode structure (361) and a first flexible insulating layer (362), the first flexible insulating layer (362) wraps the flexible electrode structure (361), and the power control device (39) is electrically connected to the flexible electrode structure (361).

3. The mobile electrostatic adsorption grabbing system based on smart composite materials according to claim 2 is characterized in that: The flexible electrode structure (361) comprises a first electrode and a second electrode, wherein the first electrode and the second electrode are arranged in a cross pattern.

4. The mobile electrostatic adsorption grabbing system based on smart composite materials according to claim 2 is characterized in that: The clamping jaw (30) further comprises a variable stiffness layer (37) which is parallel to and fitted with the flexible electrostatic adsorption layer (36); the variable stiffness layer (37) of one clamping jaw (30) is located on a side of the flexible electrostatic adsorption layer (36) away from the other clamping jaw (30); the variable stiffness layer (37) comprises a plurality of electrostatic adsorption structures (371); the arrangement direction of the plurality of electrostatic adsorption structures (371) is perpendicular to the extension direction of the clamping jaw (30); the power control device (39) is electrically connected to the plurality of electrostatic adsorption structures (371).

5. The mobile electrostatic adsorption grabbing system based on smart composite materials according to claim 4 is characterized in that: The electrostatic adsorption structure (371) comprises a second flexible insulating layer (3711) and a third electrode (3712), wherein the second flexible insulating layer (3711) wraps the third electrode (3712); the third electrodes (3712) of two adjacent electrostatic adsorption structures (371) are respectively electrically connected to the positive terminal and the negative terminal of the power control device (39).

6. The mobile electrostatic adsorption grabbing system based on smart composite materials according to claim 1 is characterized in that: The support rod (32) has a circular or polygonal cross-sectional shape along its own radial direction.

7. The mobile electrostatic adsorption grabbing system based on smart composite materials according to claim 1 is characterized in that: The suction gripper (3) further comprises a permanent magnetic material layer and / or a friction member (38) arranged at the connection between the connection seat (33) and the support rod (32).

8. The mobile electrostatic adsorption grabbing system based on smart composite materials according to claim 1 is characterized in that: At least one of the resetting device (35), the driving device (34) and the clamping jaw (30) is detachably connected to the connecting seat (33).

9. The mobile electrostatic adsorption grabbing system based on smart composite materials according to claim 1 is characterized in that: The driving device (34) is a HASEL driver, a stacked dielectric elastomer driver, a shape memory alloy or a yarn driver, and / or the resetting device (35) is a spring, a dielectric elastomer driver or a shape memory alloy.

10. A control method for a mobile electrostatic adsorption grabbing system based on a smart composite material, based on the mobile electrostatic adsorption grabbing system based on a smart composite material according to any one of claims 1 to 9, characterized in that: The steps include: Controlling the mobile vehicle (1) to move to the vicinity of the object (4) to be grasped, and controlling the flexible mechanical arm (2) to move the adsorption gripper (3) so that the adsorption gripper (3) approaches the object (4) until the object (4) is located between the two clamping claws (30) of the adsorption gripper (3); Controlling the driving device (34) of the suction gripper (3) and the two clamping claws (30) to drive the two clamping claws (30) to approach and grasp the object (4); Controlling the flexible mechanical arm (2) to move the adsorption gripper (3) to a target position; Controlling the two clamping jaws (30) to release the object (4); The two clamping claws (30) are reset by means of a reset device (35) of the suction gripper (3). According to the grasping requirements, the mobile vehicle (1) is controlled to drive the flexible mechanical arm (2) to return to the original position or continue to grasp the object (4).

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