Composite adsorption enhanced force current coupling flexible electrostatic gripper and control method thereof

Abstract

The invention provides a composite adsorption enhanced force-current coupling flexible electrostatic gripper and a control method thereof, and relates to the technical field of flexible grippers, and the composite adsorption enhanced force-current coupling flexible electrostatic gripper comprises a support frame, a force-current coupling structure, a flexible electrostatic adsorption enhancement layer and a gecko-like adsorption enhancement layer. According to the flexible electrostatic gripper, bidirectional bending is achieved by arranging the force-current coupling structure, so that the gripping range of a traditional electrostatic adsorption flexible gripper can be widened, and the problem that the gripping range of an existing electrostatic adsorption flexible gripper is insufficient is solved; and meanwhile, Van der Waals force can be provided to enhance adsorption by arranging the gecko-imitating adsorption enhancement layer, so that the grabbing force is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible grippers, and in particular to a composite adsorption enhanced force-current coupled flexible electrostatic gripper and a control method thereof. Background Art

[0002] Flexible gripping technology is a key technology in the process of industrialization. It is a supplement and improvement to the traditional rigid gripping method, enabling the gripper to better handle objects of various shapes, irregular surfaces and susceptible to damage. The application scope of flexible gripping technology covers many fields such as automated production lines, warehousing and logistics systems, smart agriculture, and health care, playing an important role in liberating human hands and improving human life.

[0003] At present, there are many types of grippers using flexible grasping technology, such as electric / pneumatic driven flexible grippers, flexible grippers based on shape memory polymer / alloy drive, flexible grippers based on dielectric elastomer drive, and flexible grippers based on electrostatic adsorption. Although electric / pneumatic driven flexible grippers have simple and multifunctional designs, fast grasping speeds, and effective grasping performance, they are widely used in automated grasping operations. However, since their driving methods rely on bulky motors, air pumps, etc., the portability of the grippers is greatly reduced, and they have high energy consumption. The portability of flexible grippers based on shape memory polymer / alloy drive has been greatly improved, but there are problems such as poor control accuracy and high energy consumption. Grippers based on dielectric elastomer drive have good portability and low energy consumption, but they need to be pre-stretched to provide a large driving strain. Stacked dielectric elastomer grippers have stronger driving capabilities than single-layer dielectric elastomer grippers, but the probability of electrical breakdown is also greatly increased.

[0004] Flexible grippers based on electrostatic adsorption have the advantages of strong adaptability, simple structure and control, low energy consumption and non-destructive adsorption, which can solve the problems existing in the above-mentioned flexible grippers. However, they can only grasp objects of relatively fixed sizes and have the problem of insufficient grasping range. Summary of the invention

[0005] The problem solved by the present invention is: how to solve the problem of insufficient grasping range of the flexible electrostatic adsorption grasper.

[0006] In order to solve the above problems, the present invention provides a composite adsorption enhanced force-current coupled flexible electrostatic gripper and a control method thereof.

[0007] In the first aspect, the present invention provides a composite adsorption enhanced force-current coupled flexible electrostatic gripper, comprising a support frame, a force-current coupling structure, a flexible electrostatic adsorption enhancement layer and a gecko-like adsorption enhancement layer, wherein one end of the force-current coupling structure along the length direction is connected to the support frame, and the other end of the force-current coupling structure along the length direction is used to bend to both sides in the thickness direction, the flexible electrostatic adsorption enhancement layer is arranged on one side of the force-current coupling structure along the thickness direction, and the gecko-like adsorption enhancement layer is arranged on the side of the flexible electrostatic adsorption enhancement layer away from the force-current coupling structure.

[0008] The beneficial effect of the composite adsorption enhanced force-current coupling flexible electrostatic gripper of the present invention is: by setting a force-current coupling structure, and one end of the force-current coupling structure along the length direction is connected to the support frame, and the other end of the force-current coupling structure along the length direction is used to bend to both sides in the thickness direction, so that when the two force-current coupling structures are controlled to bend in opposite directions, the two clamping jaws can be driven to bend in opposite directions, and when the two force-current coupling structures are controlled to bend toward each other, the two clamping jaws can be driven to bend toward each other, that is, the two clamping jaws of the gripper can not only bend inwards synchronously, but also bend outwards synchronously, so as to adapt to more different sizes or shapes. The flexible electrostatic adsorption enhancement layer is arranged on one side of the force-current coupling structure along the thickness direction, and the gecko-like adsorption enhancement layer is arranged on the side of the flexible electrostatic adsorption enhancement layer away from the force-current coupling structure. The gecko-like adsorption enhancement layer can provide van der Waals force, and the electrostatic adsorption force provided by the flexible electrostatic adsorption enhancement layer can jointly adsorb the object to be grasped, thereby enhancing the adsorption effect on the object to be grasped, making it difficult for the object to be grasped to fall after being grasped, thereby improving the grasping force of the electrostatic gripper.

[0009] Optionally, the flexible electrostatic adsorption enhancement layer includes a flexible insulating layer, which extends along the length direction of the force-current coupling structure. Two flexible electrodes are arranged in the flexible insulating layer, and the two flexible electrodes are respectively connected to the positive and negative poles of the high-voltage power supply.

[0010] Optionally, the flexible electrode is a rectangular interdigital electrode, a corrugated interdigital electrode, a sawtooth interdigital electrode, a ring-shaped interdigital electrode, or a circular interdigital electrode; or, the pattern of the flexible electrode is a square structure.

[0011] Optionally, the gecko-like adsorption enhancement layer includes a base layer and a gecko-like cilia microstructure, the base layer is covered on the side of the flexible electrostatic adsorption enhancement layer facing away from the force current coupling structure, the gecko-like cilia microstructure is formed on the side of the base layer facing away from the flexible electrostatic adsorption enhancement layer, a plurality of gecko-like cilia microstructures are provided, and a plurality of the gecko-like cilia microstructures are arranged in sequence on the base layer along the length direction of the force current coupling structure.

[0012] Optionally, the cross section of the gecko cilia imitating microstructure perpendicular to the bottom layer is wedge-shaped or rectangular; or, the outer end of the cross section of the gecko cilia imitating microstructure perpendicular to the bottom layer has a chamfer or a rounded corner.

[0013] Optionally, the force-current coupling structure includes two force-current coupling drivers, each of the force-current coupling drivers includes a flexible insulating film, a flexible conductive electrode and a dielectric liquid, the peripheries of the two flexible insulating films are connected, the dielectric liquid is wrapped between the two flexible insulating films, the two flexible conductive electrodes are respectively arranged on the outsides of the two flexible insulating films, the two flexible conductive electrodes are respectively connected to the positive and negative poles of a high-voltage power supply, and the two flexible conductive electrodes attract each other when energized to squeeze the dielectric liquid to flow, thereby driving the force-current coupling structure to bend and deform.

[0014] Optionally, the material of the flexible insulating film is a flexible insulating material, the material of the flexible conductive electrode is a flexible conductive material, and the dielectric liquid is a liquid that does not chemically react with the flexible insulating film.

[0015] Optionally, the force-current coupling structure, the flexible electrostatic adsorption enhancement layer and the gecko-like adsorption enhancement layer form a clamp, and two clamps are provided. The two clamps are spaced apart on the support frame, and the gecko-like adsorption enhancement layers of the two clamps are arranged opposite to each other.

[0016] Optionally, it also includes a capacitance detector and a control module, wherein the capacitance detector is used to detect the capacitance change of the flexible electrostatic adsorption enhancement layer, and the control module is connected to the capacitance detector and is used to control the force-current coupling structure to bend according to the capacitance change detected by the capacitance detector, so as to give the gripper a self-sensing function.

[0017] In a second aspect, the present invention provides a control method for the composite adsorption enhanced force current coupled flexible electrostatic gripper as described above, comprising the following steps:

[0018] S1: The composite adsorption enhanced force-current coupled flexible electrostatic gripper approaches the object to be grasped;

[0019] S2: two force-current coupled structures bend in opposite directions;

[0020] S3: Determine whether the composite adsorption enhanced force-current coupled flexible electrostatic gripper can wrap the object to be grasped;

[0021] S4: If yes, go to S5, if no, go to S6;

[0022] S5: the two force-current coupling structures bend toward each other;

[0023] S6: Obtain the capacitance C of the flexible electrostatic adsorption enhancement layer, and determine whether C ≥ C1;

[0024] S7: If yes, go to S8, if no, return to S5;

[0025] S8: The flexible electrostatic adsorption enhancement layer adsorbs the object to be grasped;

[0026] S9: the composite adsorption enhanced force current coupled flexible electrostatic gripper moves to a target position;

[0027] S10: the flexible electrostatic adsorption enhancement layer releases the object to be grasped;

[0028] S11: Determine whether to continue crawling, if yes, go to S1, if no, end crawling.

[0029] In the third aspect, the present invention provides a self-sensing method based on the composite adsorption enhanced force current coupled flexible electrostatic gripper as described above, the self-sensing method of the composite adsorption enhanced force current coupled flexible electrostatic gripper comprising: identifying the object based on different capacitance values ​​generated by material changes of the object to which the flexible electrostatic adsorption enhanced layer is close. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of a composite adsorption enhanced force-current coupled flexible electrostatic gripper according to an embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of a flexible electrostatic adsorption enhancement layer according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the structure of the corrugated interdigital electrode according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of the gecko-like adsorption enhancement layer according to an embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of an object adsorbed by a gecko-like adsorption enhancement layer according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic structural diagram of a bidirectional bending structure according to an embodiment of the present invention;

[0036] Figure 7 A schematic diagram of a bidirectional bending structure bending to the left according to an embodiment of the present invention;

[0037] Figure 8 A schematic diagram of a bidirectional bending structure bending to the right according to an embodiment of the present invention;

[0038] Fig. 9A schematic diagram of a gripper grasping a planar object according to an embodiment of the present invention;

[0039] Fig.10 A schematic diagram of a gripper grasping a curved object according to an embodiment of the present invention;

[0040] Fig.11 A schematic diagram of a gripper grasping an object larger than the gripper spacing according to an embodiment of the present invention;

[0041] Fig.12 It is a flow chart of a control method of a composite adsorption enhanced force-current coupled flexible electrostatic gripper according to an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 1. Support frame; 2. Bidirectional bending structure; 21. Flexible insulating film; 22. Flexible conductive electrode; 23. Dielectric liquid; 3. Flexible electrostatic adsorption enhancement layer; 31. Flexible insulating layer; 32. Flexible electrode; 4. Gecko-like adsorption enhancement layer; 41. Bottom layer; 42. Gecko-like cilia microstructure; 5. Object to be grasped. DETAILED DESCRIPTION

[0044] 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.

[0045] 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 Y axis in the drawings represents the left and right positions, and the positive direction of the Y axis represents the left side, and the reverse direction of the Y axis represents the right side. It should also be noted that the aforementioned Z axis and Y 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.

[0046] 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.

[0047] 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".

[0048] The present invention provides a composite adsorption enhanced force-current coupling flexible electrostatic gripper and a control method thereof, so as to increase the gripping range of the electrostatic adsorption flexible gripper. Detailed description will be given below in conjunction with specific embodiments.

[0049] like Figure 1 As shown, an embodiment of the present invention provides a composite adsorption enhanced force current coupling flexible electrostatic gripper, comprising a support frame 1, a force current coupling structure 2, a flexible electrostatic adsorption enhancement layer 3 and a gecko-like adsorption enhancement layer 4, wherein one end of the force current coupling structure 2 along the length direction is connected to the support frame 1, and the other end of the force current coupling structure 2 along the length direction is used to bend to both sides in the thickness direction, the flexible electrostatic adsorption enhancement layer 3 is arranged on one side of the force current coupling structure 2 along the thickness direction, and the gecko-like adsorption enhancement layer 4 is arranged on the side of the flexible electrostatic adsorption enhancement layer 3 away from the force current coupling structure 2.

[0050] It should be noted that when the gripper is actually used, the force current coupling structure 2, the flexible electrostatic adsorption enhancement layer 3 and the gecko-like adsorption enhancement layer 4 can be provided in pairs respectively. Specifically, the force current coupling structure 2, the flexible electrostatic adsorption enhancement layer 3 and the gecko-like adsorption enhancement layer 4 form a clamping jaw, and two of the clamping jaws are provided. The two clamping jaws are spaced apart on the support frame 1, and the gecko-like adsorption enhancement layers 4 of the two clamping jaws are arranged opposite to each other. The other end of the force current coupling structure 2 along the length direction is a free end. When the free ends of the two force current coupling structures 2 are bent in opposite directions, refer to Figure 1The free end of the force-current coupling structure 2 on the left bends to the left (positive direction of the Y axis), and the free end of the force-current coupling structure 2 on the right bends to the right (negative direction of the Y axis), which can drive the corresponding flexible electrostatic adsorption enhancement layer 3 and the gecko-like adsorption enhancement layer 4 to bend, thereby realizing the back-to-back bending of the two clamping jaws. Similarly, when the free ends of the two force-current coupling structures 2 bend toward each other, the two clamping jaws can also bend toward each other.

[0051] In this embodiment, a force-current coupling structure 2 is provided, and one end of the force-current coupling structure 2 along the length direction is connected to the support frame 1, and the other end of the force-current coupling structure 2 along the length direction is used to bend toward both sides of the thickness direction, so that when the two force-current coupling structures 2 are controlled to bend in opposite directions, the two clamping jaws can be driven to bend in opposite directions, and when the two force-current coupling structures 2 are controlled to bend toward each other, the two clamping jaws can be driven to bend toward each other, that is, the two clamping jaws of the gripper can not only bend inwards synchronously, but also bend outwards synchronously, so as to adapt to more objects 5 of different sizes or shapes to be grasped, thereby improving the static grip. The gripping range of the electric gripper; at the same time, by setting a gecko-like adsorption enhancement layer 4, and the flexible electrostatic adsorption enhancement layer 3 is arranged on one side of the force-current coupling structure 2 along the thickness direction, and the gecko-like adsorption enhancement layer 4 is arranged on the side of the flexible electrostatic adsorption enhancement layer 3 away from the force-current coupling structure 2, the gecko-like adsorption enhancement layer 23 can provide van der Waals force, and together with the electrostatic adsorption force provided by the flexible electrostatic adsorption enhancement layer 3, adsorb the object to be grasped 5, thereby enhancing the adsorption effect on the object to be grasped 5, so that the object to be grasped 5 is not easy to fall after being grasped, thereby improving the gripping force of the electrostatic gripper.

[0052] Alternatively, if Figure 2 As shown, the flexible electrostatic adsorption enhancement layer 3 includes a flexible insulating layer 31, which extends along the length direction of the force-current coupling structure 2. Two flexible electrodes 32 are arranged in the flexible insulating layer 31, and the two flexible electrodes 32 are respectively connected to the positive and negative poles of the high-voltage power supply.

[0053] Among them, the material of the flexible insulating layer 31 can be a flexible insulating material, preferably an insulating material with a high dielectric constant to increase the electrostatic adsorption force; the material of the flexible electrode 32 can be a flexible electrode material, such as carbon black, conductive carbon grease, conductive ink, conductive silver paste, etc.

[0054] In this optional embodiment, two flexible electrodes 32 are provided in the flexible insulating layer 31, which are respectively connected to the positive and negative poles of the high-voltage power supply. When the high-voltage power supply applies high voltage to the two flexible electrodes 32, the flexible electrostatic adsorption enhancement layer 3 will generate a high-voltage electric field. The object 5 to be grasped will be polarized under the high-voltage electric field to generate polarized charges with opposite polarity to the internal charges of the flexible electrode 32. The positive and negative charges attract each other to generate adsorption force, thereby realizing the electrostatic adsorption of the object 5 to be grasped by the flexible electrostatic adsorption enhancement layer 3.

[0055] Optionally, the flexible electrode 32 is a rectangular interdigital electrode, a corrugated interdigital electrode, a sawtooth interdigital electrode, a ring interdigital electrode, or a circular interdigital electrode; or, the pattern of the flexible electrode 32 is a square structure. The exemplary structure of the flexible electrode 32 can be referred to Figure 3 , Figure 3 is a schematic diagram of the structure of a corrugated interdigital electrode, in which the two parts of the corrugated interdigital electrode are two flexible electrodes 32 respectively.

[0056] Alternatively, if Figure 4 and Figure 5 As shown, the gecko-like adsorption enhancement layer 4 includes a bottom layer 41 and a gecko-like cilia microstructure 42, the bottom layer 41 is covered on the side of the flexible electrostatic adsorption enhancement layer 3 facing away from the force current coupling structure 2, the gecko-like cilia microstructure 42 is formed on the side of the bottom layer 41 facing away from the flexible electrostatic adsorption enhancement layer 3, a plurality of the gecko-like cilia microstructures 42 are arranged, and a plurality of the gecko-like cilia microstructures 42 are arranged in sequence on the bottom layer 41 along the length direction of the force current coupling structure 2.

[0057] In this optional embodiment, the gecko-like adsorption enhancement layer 4 is composed of a bottom layer 41 and a gecko-like ciliary microstructure 42, so that when the gecko-like adsorption enhancement layer 4 is close to the object 5 to be grasped, van der Waals forces will be generated between the multiple gecko-like ciliary microstructures 42 and the surface of the object 5 to be grasped, thereby achieving the adsorption of the object 5 to be grasped by the gecko-like adsorption enhancement layer 4.

[0058] Optionally, the cross section of the gecko cilia imitating microstructure 42 perpendicular to the bottom layer 41 is wedge-shaped or rectangular; or, the outer end of the cross section of the gecko cilia imitating microstructure 42 perpendicular to the bottom layer 41 has a chamfer or a rounded corner.

[0059] Alternatively, if Figure 6 As shown, the force-current coupling structure 2 includes two force-current coupling drivers, each of which includes a flexible insulating film 21, a flexible conductive electrode 22 and a dielectric liquid 23. The peripheries of the two flexible insulating films 21 are connected, and the dielectric liquid 23 is wrapped between the two flexible insulating films 21. The two flexible conductive electrodes 22 are respectively arranged on the outsides of the two flexible insulating films 21, and the two flexible conductive electrodes 22 are respectively connected to the positive and negative poles of the high-voltage power supply. When the two flexible conductive electrodes 22 are energized, they attract each other to squeeze the dielectric liquid 23 to flow, thereby driving the force-current coupling structure 2 to bend and deform.

[0060] It should be noted that the specific working principle of the force-current coupling structure 2 is as follows: when the two flexible conductive electrodes 22 of the left force-current coupling driver are energized and the two flexible conductive electrodes 22 of the right force-current coupling driver are not energized, the two flexible conductive electrodes 22 connected to the positive and negative poles respectively will attract each other, thereby squeezing the dielectric liquid 23 therebetween, causing the dielectric liquid 23 to move downward, thereby driving the lower end of the left force-current coupling driver to bend to the left, thereby realizing the bending of the entire force-current coupling structure 2 to the left. The specific change process can be referred to Figure 6 and Figure 7 When the two flexible conductive electrodes 22 of the right force-current coupling driver are energized and the two flexible conductive electrodes 22 of the left force-current coupling driver are not energized, the two flexible conductive electrodes 22 connected to the positive and negative poles will attract each other, thereby squeezing the dielectric liquid 23 between them and moving the dielectric liquid 23 downward, thereby driving the lower end of the right force-current coupling driver to bend to the right, so that the entire force-current coupling structure 2 bends to the right. The specific change process can be referred to Figure 6 and Figure 8 .

[0061] In this optional embodiment, the force-current coupling structure 2 includes two force-current coupling drivers, each of which includes a flexible insulating film 21, a flexible conductive electrode 22 and a dielectric fluid 23. When different force-current coupling drivers are energized, the force-current coupling structure 2 can be controlled to bend in the corresponding direction, thereby achieving bidirectional bending of the force-current coupling structure 2.

[0062] Optionally, the material of the flexible insulating film 21 is a flexible insulating material, the material of the flexible conductive electrode 22 is a flexible conductive material, and the dielectric liquid 23 is a liquid that does not chemically react with the flexible insulating film 21 .

[0063] Optionally, the composite adsorption enhanced force-current coupled flexible electrostatic gripper also includes a capacitance detector and a control module, wherein the capacitance detector is used to detect the capacitance change of the flexible electrostatic adsorption enhanced layer 3, and the control module is connected to the capacitance detector and is used to control the bending of the force-current coupled structure 2 according to the capacitance change detected by the capacitance detector, so as to give the gripper a self-sensing function.

[0064] It can be understood that the flexible electrostatic adsorption enhancement layer 3 is composed of a flexible insulating film 31 and two flexible electrodes 32. When the material of the object 5 to be grasped near the gripper changes, the capacitance of the flexible electrode 32 will change. When the distance between the object 5 to be grasped and the flexible electrostatic adsorption enhancement layer 3 changes, the capacitance of the flexible electrode 32 will also change. In this optional embodiment, by setting a capacitance detector and a control module, the capacitance detector can be used to detect the capacitance change of the flexible electrostatic adsorption enhancement layer 3 in a timely manner, and the control module can control the force current coupling structure 2 to bend according to the capacitance change. For example, the bending adjustment is achieved by controlling the power on and off of the two force current coupling drivers of the force current coupling structure 2, thereby realizing self-perception of the change in the distance of the object or the change in the material of the object, so as to facilitate the timely control of the force current coupling structure 2 to act according to the perception result, thereby improving the automation of the gripper.

[0065] The embodiment of the present invention provides a control method for the composite adsorption enhanced force current coupling flexible electrostatic gripper as described above, such as Fig.12 As shown, the following steps are included:

[0066] S1: The composite adsorption enhanced force-current coupled flexible electrostatic gripper approaches the object to be grasped 5;

[0067] S2: two force-current coupling structures 2 bend in opposite directions;

[0068] S3: Determine whether the composite adsorption enhanced force-current coupled flexible electrostatic gripper can wrap the object to be grasped 5;

[0069] S4: If yes, go to S5, if no, go to S6;

[0070] S5: the two force-current coupling structures 2 bend toward each other;

[0071] S6: Obtain the capacitance C of the flexible electrostatic adsorption enhancement layer 3, and determine whether C ≥ C1;

[0072] S7: If yes, go to S8, if no, return to S5;

[0073] S8: The flexible electrostatic adsorption enhancement layer 3 adsorbs the object 5 to be grasped;

[0074] S9: the composite adsorption enhanced force current coupled flexible electrostatic gripper moves to a target position;

[0075] S10: the flexible electrostatic adsorption enhancement layer 3 releases the object 5 to be grasped;

[0076] S11: Determine whether to continue crawling, if yes, go to S1, if no, end crawling.

[0077] It should be noted that the method for judging whether the gripper can wrap around the object 5 to be grasped can be judged by the size and shape of the object 5 to be grasped. For example, when the grasped object 5 is a planar object whose size is larger than the gripper spacing (i.e., the spacing between the two clamping claws), it is judged that the gripper cannot wrap around the object 5 to be grasped; when the grasped object 5 is a planar or curved object whose size is smaller than the gripper spacing, it is judged that the gripper can wrap around the object 5 to be grasped. For the grasping schematic diagram of a planar object whose size is smaller than the gripper spacing, please refer to Fig. 9 For the grasping diagram of curved objects whose size is smaller than the gripper spacing, please refer to Fig.10 For the grasping diagram of flat objects whose size is larger than the gripper spacing, please refer to Fig.11 C1 is the target capacitance value. When the capacitance of the flexible electrostatic adsorption enhancement layer 3 reaches C1, it indicates that the gripper has been attached to the object 5 to be grasped. At this time, the flexible electrostatic adsorption enhancement layer 3 is energized, and the flexible electrostatic adsorption enhancement layer 3 can smoothly adsorb the object 5 to be grasped.

[0078] In this embodiment, the control method energizes the flexible electrostatic adsorption enhancement layer 3 to adsorb the object 5 to be grasped until the capacitance of the flexible electrostatic adsorption enhancement layer 3 reaches the target capacitance value C1 when the gripper approaches the object 5 to be grasped. In this way, self-sensing of the capacitance change caused by the change in the distance between the object 5 to be grasped and the flexible electrostatic adsorption enhancement layer 3 during the grasping process is achieved, which is conducive to more intelligent and accurate adsorption and grasping of the object.

[0079] An embodiment of the present invention provides a self-sensing method based on the composite adsorption enhanced force current coupled flexible electrostatic gripper as described above, and the self-sensing method of the composite adsorption enhanced force current coupled flexible electrostatic gripper includes: identifying the object based on different capacitance values ​​generated by material changes of the object to which the flexible electrostatic adsorption enhanced layer 3 is close.

[0080] It can be understood that when the flexible electrostatic adsorption enhancement layer 3 is close to an object, if the object is different, its material will be different, so that the flexible electrostatic adsorption enhancement layer 3 has different capacitance values, and then when the flexible electrostatic adsorption enhancement layer 3 is close to the object, the material of the object can be determined according to the capacitance of the flexible electrostatic adsorption enhancement layer 3, and finally the object can be identified.

[0081] In this embodiment, the object recognition method identifies the object based on the different capacitance values ​​generated by the material change of the object approached by the flexible electrostatic adsorption enhancement layer 3, and utilizes the self-sensing function of the gripper to the capacitance change caused by the material change of the object approached, thereby realizing accurate recognition of the object.

[0082] 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 composite adsorption enhanced force current coupling flexible electrostatic gripper, characterized in that: The invention comprises a support frame (1), a force current coupling structure (2), a flexible electrostatic adsorption enhancement layer (3) and a gecko-like adsorption enhancement layer (4); one end of the force current coupling structure (2) along the length direction is connected to the support frame (1); the other end of the force current coupling structure (2) along the length direction is used to bend towards both sides in the thickness direction; the flexible electrostatic adsorption enhancement layer (3) is arranged on one side of the force current coupling structure (2) along the thickness direction; and the gecko-like adsorption enhancement layer (4) is arranged on a side of the flexible electrostatic adsorption enhancement layer (3) that is away from the force current coupling structure (2).

2. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 1 is characterized in that: The flexible electrostatic adsorption enhancement layer (3) comprises a flexible insulating layer (31), the flexible insulating layer (31) extending along the length direction of the force-current coupling structure (2), two flexible electrodes (32) being arranged in the flexible insulating layer (31), and the two flexible electrodes (32) being connected to the positive and negative electrodes of a high-voltage power supply respectively.

3. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 2 is characterized in that: The flexible electrode (32) is a rectangular interdigital electrode, a corrugated interdigital electrode, a sawtooth interdigital electrode, a ring-shaped interdigital electrode, or a circular interdigital electrode; or the pattern of the flexible electrode (32) is a square structure.

4. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 1 is characterized in that: The gecko-like adsorption enhancement layer (4) comprises a bottom layer (41) and a gecko-like cilia microstructure (42); the bottom layer (41) is covered on the side of the flexible electrostatic adsorption enhancement layer (3) that is away from the force current coupling structure (2); the gecko-like cilia microstructure (42) is formed on the side of the bottom layer (41) that is away from the flexible electrostatic adsorption enhancement layer (3); a plurality of the gecko-like cilia microstructures (42) are provided, and the plurality of the gecko-like cilia microstructures (42) are sequentially spaced and arranged on the bottom layer (41) along the length direction of the force current coupling structure (2).

5. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 4 is characterized in that: The cross section of the gecko cilia imitating microstructure (42) perpendicular to the bottom layer (41) is wedge-shaped or rectangular; or the outer end of the cross section of the gecko cilia imitating microstructure (42) perpendicular to the bottom layer (41) has a chamfer or rounded corner.

6. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 1 is characterized in that: The force-current coupling structure (2) comprises two force-current coupling drivers, each of which comprises a flexible insulating film (21), a flexible conductive electrode (22) and a dielectric liquid (23). The peripheries of the two flexible insulating films (21) are connected, the dielectric liquid (23) is wrapped between the two flexible insulating films (21), the two flexible conductive electrodes (22) are respectively arranged on the outside of the two flexible insulating films (21), the two flexible conductive electrodes (22) are respectively connected to the positive and negative electrodes of a high-voltage power supply, and the two flexible conductive electrodes (22) attract each other when energized to squeeze the dielectric liquid (23) to flow, thereby driving the force-current coupling structure (2) to bend and deform.

7. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 6 is characterized in that: The material of the flexible insulating film (21) is a flexible insulating material, the material of the flexible conductive electrode (22) is a flexible conductive material, and the dielectric liquid (23) is a liquid that does not chemically react with the flexible insulating film (21).

8. The composite adsorption enhanced force-current coupled flexible electrostatic gripper according to claim 1 is characterized in that: The force-current coupling structure (2), the flexible electrostatic adsorption enhancement layer (3) and the gecko-like adsorption enhancement layer (4) form a clamping jaw, and two of the clamping jaws are arranged at intervals on the support frame (1), and the gecko-like adsorption enhancement layers (4) of the two clamping jaws are arranged opposite to each other.

9. The composite adsorption enhanced force current coupling flexible electrostatic gripper according to claim 1, characterized in that: It also includes a capacitance detector and a control module, wherein the capacitance detector is used to detect the capacitance change of the flexible electrostatic adsorption enhancement layer (3), and the control module is connected to the capacitance detector and is used to control the force-current coupling structure (2) to bend according to the capacitance change detected by the capacitance detector, so as to give the gripper a self-sensing function.

10. A control method for the composite adsorption enhanced force current coupled flexible electrostatic gripper according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: The composite adsorption enhanced force-current coupled flexible electrostatic gripper approaches the object to be grasped (5); S2: two force-current coupling structures (2) bend away from each other; S3: Determine whether the composite adsorption enhanced force-current coupled flexible electrostatic gripper can wrap the object to be grasped (5); S4: If yes, go to S5, if no, go to S6; S5: the two force-current coupling structures (2) bend towards each other; S6: Obtain the capacitance C of the flexible electrostatic adsorption enhancement layer (3), and determine whether C ≥ C1; S7: If yes, go to S8, if no, return to S5; S8: the flexible electrostatic adsorption enhancement layer (3) adsorbs the object to be grasped (5); S9: the composite adsorption enhanced force current coupled flexible electrostatic gripper moves to a target position; S10: the flexible electrostatic adsorption enhancement layer (3) releases the object to be grasped (5); S11: Determine whether to continue crawling, if yes, go to S1, if no, end crawling.

11. A self-sensing method based on the composite adsorption enhanced force current coupled flexible electrostatic gripper according to any one of claims 1 to 9, characterized in that: The self-sensing method of the composite adsorption enhanced force-current coupled flexible electrostatic gripper comprises: identifying the object according to different capacitance values ​​generated by material changes of the object to which the flexible electrostatic adsorption enhanced layer (3) is close.

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