Controllable grabbing system simulating dionaea muscipula folding mechanism and control method of controllable grabbing system

Abstract

The invention discloses a controllable grabbing system simulating a dionaea muscipula folding mechanism and a control method of the controllable grabbing system. The grabbing system comprises a driving device and at least one folding gripper. The folding gripper comprises a first folding clamping set and a second folding clamping set. A first folding linkage part and a second folding linkage part; the first folding clamping group or the second folding clamping group is movably connected with the first folding linkage part and the second folding linkage part respectively; the driving device is used for driving the first folding linkage part and the second folding linkage part to be folded mutually and driving the first folding clamping set and the second folding clamping set to be folded respectively and close to each other for clamping. The folding gripper can realize complex geometric deformation, so that the folding gripper shows good flexibility and gripping strength when being unfolded and closed. Compared with a traditional rigid gripper, the folding gripper provides more-dimensional motion freedom degrees while being light, so that the adaptive capacity of the gripping system is remarkably improved, and the gripping performance is more excellent.

Description

Technical Field

[0001] The present invention relates to the technical field of grasping, and particularly relates to a controllable grasping system imitating the folding mechanism of a Venus flytrap and a control method thereof. Background Art

[0002] In recent years, bionic technology has made remarkable progress in the fields of mechanical design and intelligent devices. The core concept in this field is to draw inspiration from natural organisms, and through detailed research on biological structures and functions, create efficient, flexible and innovative mechanical systems. Bionic technology not only broadens the design ideas, but also promotes the application of new materials and manufacturing processes, providing new paths for solving practical engineering problems.

[0003] As a unique design model, the origami structure (folding structure) has attracted increasing attention in the field of bionic design due to its deformation characteristics and mechanical properties. The origami structure is composed of simple planar elements, which can achieve complex three-dimensional deformations under specific operations. This characteristic makes the origami structure particularly suitable for scenarios that require operations in narrow spaces, such as micro-robots and medical devices.

[0004] Traditional mechanical grasping devices usually mainly consist of rigid components. Although they show good stability in high-load environments, they are inadequate when dealing with the grasping requirements of complex and irregular objects. These traditional designs are often based on inflexible materials and mechanisms, so there are limitations in adaptability and effectiveness. At the same time, the manufacturing cost of rigid structures is relatively high, and they are often not light enough in weight, restricting their applications in terms of mobility and flexibility.

[0005] In contrast, the flexibility and deformable characteristics of the origami structure can, through precise design and optimization, achieve adaptive grasping of objects of various shapes and sizes. The origami structure can not only achieve complex motion behaviors, but also help reduce the manufacturing cost because it can use less materials and adopt a simplified production process.

[0006] However, current origami structure mechanical devices still face multiple challenges. For example, the contradiction between mechanical properties and structural stability is an urgent problem to be solved. How to find the best balance between grasping strength and precision is always an important issue that designers need to consider.

[0007] The control methods of origami structures in the prior art are relatively single, resulting in a lack of versatility in their actual applications and making it difficult to meet the rapidly changing market demands. Obviously, there are problems of insufficient adaptability and grasping performance limitations.

[0008] Therefore, the prior art still needs to be improved and developed. Summary of the Invention

[0009] The technical problem to be solved by the present invention is, in view of the above-mentioned defects of the prior art, to provide a controllable grasping system imitating the folding mechanism of a Venus flytrap and its control method, aiming to solve the problems of insufficient adaptability and grasping performance limitations existing in the origami structure in the prior art.

[0010] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0011] A controllable grasping system imitating the folding mechanism of a Venus flytrap, which includes: a driving device and at least one folding gripper; the folding gripper includes:

[0012] A first folding clamping group and a second folding clamping group;

[0013] A first folding linkage part and a second folding linkage part;

[0014] Wherein, both the first folding linkage part and the second folding linkage part are located between the first folding clamping group and the second folding clamping group;

[0015] The first folding clamping group is respectively movably connected to the first folding linkage part and the second folding linkage part;

[0016] The second folding clamping group is respectively movably connected to the first folding linkage part and the second folding linkage part;

[0017] The driving device is used to drive the first folding linkage part and the second folding linkage part to fold towards each other, and drive the first folding clamping group and the second folding clamping group to fold respectively and approach each other for clamping.

[0018] For the controllable grasping system imitating the folding mechanism of a Venus flytrap, wherein, both the first folding clamping group and the second folding clamping group include:

[0019] A first folding part, movably connected to the first folding linkage part;

[0020] A second folding part, movably connected to the second folding linkage part;

[0021] Wherein, the first folding part and the second folding part are movably connected;

[0022] The outer end of the first folding part and / or the outer end of the second folding part form a clamping part.

[0023] For the controllable grasping system imitating the folding mechanism of a Venus flytrap, wherein, a pressure sensor is provided on the clamping part; and / or

[0024] A pressure sensor is provided on the first folding linkage part, and a pressure sensor is provided on the second folding linkage part.

[0025] The controllable grasping system imitating the folding mechanism of Dionaea muscipula, wherein the horizontal distance between the clamping parts of the first folding clamping group and the clamping parts of the second folding clamping group is:

[0026]

[0027] Wherein, S represents the horizontal distance between the clamping parts of the first folding clamping group and the clamping parts of the second folding clamping group, l 1 represents the distance from the first intersection point to the foot of the perpendicular on the third side. The first intersection point is the intersection point of the first side and the second side or the intersection point of the extension line of the first side and the extension line of the second side. The first side is the side where the first folding linkage part connects the first folding clamping group, the second side is the side where the first folding linkage part connects the second folding clamping group, and the third side is the side where the first folding linkage part faces the second folding linkage part. l 2 represents the distance from the intersection point of the first side and the third side to the foot of the perpendicular on the third side. l 3 represents the side length of the first folding part in the first folding clamping group facing the second folding part. l 4 represents the distance from the intersection point of the second side and the third side to the foot of the perpendicular on the third side. l 5 represents the side length of the first folding part in the second folding clamping group facing the second folding part. d represents half of the distance between the first intersection point and the second intersection point. The second intersection point is the intersection point of the fourth side and the fifth side or the intersection point of the extension line of the fourth side and the extension line of the fifth side. The fourth side is the side where the second folding linkage part connects the first folding clamping group, and the fifth side is the side where the second folding linkage part connects the second folding clamping group.

[0028] The controllable grasping system imitating the folding mechanism of Dionaea muscipula, wherein,

[0029]

[0030] The controllable grasping system imitating the folding mechanism of Dionaea muscipula, wherein there are at least two folding grippers;

[0031] The first folding part is movably connected to the second folding part of the adjacent folding gripper;

[0032] The driving device is respectively movably connected to the outermost first folding linkage part and the outermost second folding linkage part.

[0033] The controllable grasping system imitating the folding mechanism of Dionaea muscipula, wherein the folding gripper is made of a flexible material and formed by 3D printing, and a protective layer is arranged on the surface of the folding gripper; The driving device includes:

[0034] The first connecting column is movably connected to the corresponding first folding linkage part;

[0035] The second connecting column is movably connected to the corresponding second folding linkage part;

[0036] The driving assembly is respectively connected to the first connecting column and the second connecting column, and is used to drive the first connecting column and the second connecting column to approach each other.

[0037] For the controllable grasping system with the flytrap-like folding mechanism as described above, wherein the driving assembly includes:

[0038] The first chute is connected to the first connecting column;

[0039] The second chute is connected to the second connecting column;

[0040] The first rack is arranged in the first chute and extends into the second chute;

[0041] The second rack is arranged in the second chute and extends into the first chute;

[0042] The gear is respectively meshed with the first rack and the second rack;

[0043] The driving member is connected to the gear and is used to drive the gear to rotate.

[0044] A control method for the controllable grasping system with the flytrap-like folding mechanism as described in any one of the above, wherein the method includes the steps:

[0045] Control the first folding linkage part and the second folding linkage part to fold with each other through the driving device, and drive the first folding clamping group and the second folding clamping group to fold respectively and approach each other for clamping.

[0046] For the control method of the controllable grasping system with the flytrap-like folding mechanism as described above, wherein the control method further includes the steps:

[0047] Obtain the pressure value based on the pressure sensor;

[0048] When the pressure value exceeds the preset value, stop controlling the folding of the first folding linkage part and the second folding linkage part through the driving device.

[0049] Beneficial effects: The folding gripper can achieve complex geometric deformations, enabling the folding gripper to exhibit good flexibility and grasping strength when unfolding and closing. Compared with traditional rigid grippers, the folding gripper provides more degrees of freedom of movement in multiple dimensions while being lightweight, thus significantly improving the adaptability of the grasping system and having more excellent grasping performance. Description of the Drawings

[0050] Figure 1 It is a schematic structural diagram of the controllable grasping system with the flytrap-like folding mechanism in the embodiment of the present invention.

[0051] Figure 2 It is a schematic structural diagram of the driving device in the embodiment of the present invention.

[0052] Figure 3 It is a schematic structural diagram of the folding gripper in the embodiment of the present invention.

[0053] Figure 4 It is the first side view during the folding process of the folding gripper in the embodiment of the present invention.

[0054] Figure 5 It is the second side view during the folding process of the folding gripper in the embodiment of the present invention.

[0055] Figure 6 It is a schematic structural diagram during the folding process of the folding gripper in the embodiment of the present invention.

[0056] Figure 7 It is a schematic structural diagram when the folding gripper is fully unfolded in the embodiment of the present invention.

[0057] Figure 8 It is a schematic structural diagram when the folding gripper is fully folded in the embodiment of the present invention.

[0058] Figure 9 It is the first schematic structural diagram of the folding gripper in another embodiment of the present invention.

[0059] Figure 10 It is the second schematic structural diagram of the folding gripper in another embodiment of the present invention.

[0060] Explanation of reference numerals:

[0061] 10. Folding gripper; 11. First folding linkage part; 12. Second folding linkage part; 13. First folding clamping group; 131. First folding part; 132. Second folding part; 133. Clamping part; 14. Second folding clamping group; 141. First folding part; 142. Second folding part; 143. Clamping part; 15. Connection structure; 20. Driving device; 21. First connecting column; 22. Second connecting column; 231. First sliding groove; 232. Second sliding groove; 233. First rack; 234. Second rack; 235. Gear; 236. Driving part. Detailed implementation manners

[0062] To make the purpose, technical solutions and advantages of the present invention clearer and more definite, the following further elaborates on the present invention by way of examples with reference to the accompanying drawings. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0063] Please refer to simultaneously Figures 1-10, some embodiments of a controllable grasping system imitating the folding mechanism of a Venus flytrap are provided by the present invention.

[0064] The present invention relates to a controllable grasping system imitating the folding mechanism of a Venus flytrap. This system has high adaptability and flexibility and is particularly suitable for industrial automation, precision operations, and multi-target grasping tasks. The design concept of this gripper is derived from the structure and function of natural organisms, and the performance of mechanical equipment is improved by imitating the actions of organisms.

[0065] With the development of intelligent manufacturing and automation technologies, the market's demand for efficient and flexible grasping tools is increasing day by day. The bionic folding gripper device can ideally perform tasks in complex environments, including grasping irregular objects, delicate operations, and diverse production requirements. The application potential of this technology also covers fields such as medical devices, agricultural robots, and service robots.

[0066] As Figure 1 and Figure 10 shown, the controllable grasping system imitating the folding mechanism of a Venus flytrap of the present invention includes: a driving device 20 and at least one folding gripper 10. When there are multiple folding grippers 10, the multiple folding grippers 10 can be arranged in a row or multiple rows, and two adjacent folding grippers 10 can be connected. The driving device 20 is connected to the folding gripper 10, which can be connected to some of the folding grippers 10 or to each folding gripper 10, so as to control the folding of the folding gripper 10 to achieve grasping.

[0067] As Figure 1 and Figure 3 shown, the folding gripper 10 includes:

[0068] a first folding clamping group 13 and a second folding clamping group 14;

[0069] a first folding linkage part 11 and a second folding linkage part 12;

[0070] Wherein, both the first folding linkage part 11 and the second folding linkage part 12 are located between the first folding clamping group 13 and the second folding clamping group 14; the first folding clamping group 13 is respectively movably connected to the first folding linkage part 11 and the second folding linkage part 12; the second folding clamping group 14 is respectively movably connected to the first folding linkage part 11 and the second folding linkage part 12; the driving device 20 is used to drive the first folding linkage part 11 and the second folding linkage part 12 to fold towards each other, and drive the first folding clamping group 13 and the second folding clamping group 14 to fold respectively and move closer to each other for clamping.

[0071] Specifically, the folding gripper 10 in the grasping system of the present invention is inspired by the closing movement of the Venus flytrap in nature and has multiple interconnected folding structures. The folding gripper 10 is divided into two main parts: a folding linkage part and a folding clamping group. There are two folding linkage parts, namely the first folding linkage part 11 and the second folding linkage part 12, which are formed by aligning the bottom edges for folding to form the folding linkage part. There are two folding clamping groups, namely the first folding clamping group 13 and the second folding clamping group 14, which are respectively located on both sides of the folding linkage part, and their edges are connected to the folding linkage part to form the folding clamping group.

[0072] The folding gripper 10 can achieve complex geometric deformations, enabling the folding gripper 10 to exhibit good flexibility and grasping strength when unfolding and closing. Compared with traditional rigid grippers, the folding gripper 10 provides more degrees of freedom of movement in multiple dimensions while being lightweight, thus significantly enhancing the adaptability of the grasping system and having more excellent grasping performance. The bionic folding gripper 10 of the present invention can exhibit excellent grasping ability in various application scenarios through flexible design and material innovation, and pays attention to the combination of modularization and diversification in design, so as to achieve efficient and flexible grasping operations.

[0073] Specifically, the first folding clamping group 13 can fold itself, the second folding clamping group 14 can fold itself, and the first folding clamping group 13 and the second folding clamping group 14 can approach each other after folding to achieve object clamping. As Figure 1 、 Figure 4 and Figure 5 shown, the first folding linkage part 11 and the second folding linkage part 12 are not directly connected. The first folding linkage part 11 and the second folding linkage part 12 can fold with each other. Specifically, the driving device 20 is used to realize the mutual folding and mutual unfolding of the first folding linkage part 11 and the second folding linkage part 12. When the first folding linkage part 11 and the second folding linkage part 12 fold with each other, they will drive the first folding clamping group 13 to fold and drive the second folding clamping group 14 to fold. When the first folding linkage part 11 and the second folding linkage part 12 unfold with each other, they will drive the first folding clamping group 13 to unfold itself and drive the second folding clamping group 14 to unfold itself.

[0074] The first folding linkage part 11 and the first folding clamping group 13, and the second folding clamping group 14 can be rotatably connected. The second folding linkage part 12 and the first folding clamping group 13, and the second folding clamping group 14 can be rotatably connected. For example, a connecting structure 15 is used to respectively realize the connection between the first folding linkage part 11 and the first folding clamping group 13, the connection between the first folding linkage part 11 and the second folding clamping group 14, the connection between the second folding linkage part 12 and the first folding clamping group 13, and the connection between the second folding linkage part 12 and the second folding clamping group 14. The connecting structure 15 can be a hinge. The hinge can be made of a flexible material, ensuring that all components of the folding gripper 10 can work together during the deformation process. This connection method not only enhances the structural integrity of the folding gripper 10 but also increases the stability and reliability of the operation.

[0075] By controlling the folding angles of the first folding linkage part 11 and the second folding linkage part 12, the degree of closeness between the first folding clamping group 13 and the second folding clamping group 14 can be adjusted, and thus objects with different shapes and sizes can be clamped. The folding gripper 10 can accurately control the posture at different stages during the grasping process, can adapt to objects of various shapes and sizes, and can effectively prevent damage to the objects during the grasping process. It is particularly suitable for grasping and operating objects in complex environments.

[0076] In a preferred implementation manner of the embodiment of the present invention, as Figure 3 and Figure 7 shown, both the first folding clamping group 13 and the second folding clamping group 14 include:

[0077] A first folding part (131, 141), which is movably connected to the first folding linkage part 11;

[0078] A second folding part (132, 142), which is movably connected to the second folding linkage part 12;

[0079] Wherein, the first folding part 131 and the second folding part 132 are movably connected; the first folding part 141 and the second folding part 142 are movably connected; the outer end of the first folding part 131 forms a clamping part 133, the outer end of the first folding part 141 forms a clamping part 143, the outer end of the second folding part 132 forms a clamping part 133, and the outer end of the second folding part 142 forms a clamping part 143.

[0080] Specifically, the first folding portion 131 and the second folding portion 132 can be folded relative to each other. When the first folding linkage portion 11 and the second folding linkage portion 12 are folded relative to each other, they drive the first folding portion 131 and the second folding portion 132 to fold relative to each other. The outer end of the first folding portion 131, that is, the end far from the first folding linkage portion 11, forms a clamping portion 133. The outer end of the second folding portion 132, that is, the end far from the second folding linkage portion 12, forms a clamping portion 133. The first folding clamping group 13 can have one or two clamping portions 133, and the second folding clamping group 14 can have one or two clamping portions 143. Then, a folding gripper 10 can have at least two clamping portions. When the first folding portion 131 and the second folding portion 132 are folded relative to each other, the clamping portions 133 in the first folding clamping group 13 and the clamping portions 143 in the second folding clamping group 14 approach each other to achieve clamping.

[0081] In a preferred implementation manner of the embodiment of the present invention, a pressure sensor is provided on the clamping portion (133, 143).

[0082] Specifically, a pressure sensor is provided on the clamping portion (133, 143) for detecting the pressure received by the clamping portion (133, 143). The clamping portion (133, 143) is the position directly receiving the force and having the largest deformation, which can improve the sensitivity of the pressure sensor. When the clamping portion (133, 143) does not contact an object, the pressure sensor does not detect pressure and the pressure value is 0. When the clamping portion (133, 143) contacts an object, the pressure sensor detects pressure and the pressure value is not 0. To avoid damaging the object, the pressure value when the clamping portion contacts the object needs to be below a first preset value. The pressure value can be obtained through the pressure sensor. When the pressure value exceeds the first preset value, the first folding linkage portion 11 and the second folding linkage portion 12 can be controlled to stop folding to prevent the clamping portion (133, 143) from damaging the object.

[0083] In a preferred implementation manner of the embodiment of the present invention, a pressure sensor is provided on the first folding linkage portion 11, and a pressure sensor is provided on the second folding linkage portion 12.

[0084] Specifically, a pressure sensor can be provided on the first folding linkage portion 11 or the second folding linkage portion 12 to detect the pressure value received by the first folding linkage portion 11 or the second folding linkage portion 12. The pressure sensor can be provided at a position on the first folding linkage portion 11 close to the connection driving device 20 and at a position on the second folding linkage portion 12 close to the connection driving device 20. These positions are directly stressed and have the largest deformation, which can improve the sensitivity of the pressure sensor. When the clamping portions (133, 143) do not contact an object, the pressure value collected by the pressure sensor is small. When the clamping portions (133, 143) contact an object, the pressure sensor detects a large pressure value. To avoid damaging the object, the pressure value detected by the pressure sensor needs to be below a second preset value. The pressure value can be obtained through the pressure sensor. When the pressure value exceeds the second preset value, the folding of the first folding linkage portion 11 and the second folding linkage portion 12 can be controlled to stop to prevent the clamping portions from damaging the object. The grasping state is monitored in real time through the pressure sensor and feedback information is provided. The contact condition of the object and the clamping force can be accurately sensed, so as to perform dynamic adjustment during the grasping process and improve the safety and effectiveness of the grasping.

[0085] In a preferred implementation manner of the embodiment of the present invention, as Figures 6-9 shown, the horizontal distance between the clamping portion 133 of the first folding clamping group 13 and the clamping portion 143 of the second folding clamping group 14 is:

[0086]

[0087] wherein, S represents the horizontal distance between the clamping portion 133 of the first folding clamping group 13 and the clamping portion 143 of the second folding clamping group 14, and l 1 represents the distance from the first intersection point C to the foot of the perpendicular O on the third side AB. The first intersection point C is the intersection point of the first side AC and the second side BC (as Figure 7 shown) or the intersection point of the extension line of the first side and the extension line of the second side (as Figure 9 shown). The first side AC is the side where the first folding linkage portion 11 is connected to the first folding clamping group 13, the second side BC is the side where the first folding linkage portion 11 is connected to the second folding clamping group 14, the third side AB is the side where the first folding linkage portion 11 faces the second folding linkage portion 12, and l 2 represents the distance from the intersection point A of the first side AC and the third side AB to the foot of the perpendicular O on the third side AB (i.e., the length of AO), and l 3 represents the side length of the first folding portion 131 in the first folding clamping group 13 facing the second folding portion 132 (i.e., the length of AE), and l 4 represents the distance from the intersection point B of the second side BC and the third side AB to the foot of the perpendicular O on the third side AB, and l 5Represents the side length of the first folding portion 141 facing the second folding portion 142 in the second folding gripping group 14 (i.e., the length of BF), d represents half of the distance from the first intersection point C to the second intersection point D, and the second intersection point D is the intersection point of the fourth side AD and the fifth side BD (as Figure 7 shown) or the intersection point of the extension line of the fourth side and the extension line of the fifth side (as Figure 9 shown). The fourth side AD is the side where the second folding linkage portion 12 connects the first folding gripping group 13, and the fifth side BD is the side where the second folding linkage portion 12 connects the second folding gripping group 14.

[0088] Specifically, the first folding linkage portion 11 can be triangular or trapezoidal, the second folding linkage portion 12 can be triangular or trapezoidal, the first folding portions (131, 141) can be triangular or trapezoidal, and the second folding portions (132, 142) can be triangular or trapezoidal. As Figure 7 shown, when the first folding linkage portion 11 is triangular, the first folding portion 131 of the first folding gripping group 13 and the first folding portion 141 of the second folding gripping group 14 are both triangular. As Figure 9 shown, when the first folding linkage portion 11 is trapezoidal, the first folding portion 131 of the first folding gripping group 13 and the first folding portion 141 of the second folding gripping group 14 are both trapezoidal. As Figure 7 shown, when the second folding linkage portion 12 is triangular, the second folding portion 132 of the first folding gripping group 13 and the second folding portion 142 of the second folding gripping group 14 are both triangular. As Figure 9 shown, when the second folding linkage portion 12 is trapezoidal, the second folding portion 132 of the first folding gripping group 13 and the second folding portion 142 of the second folding gripping group 14 are both trapezoidal. Taking the case where the first folding linkage portion 11, the second folding linkage portion 12, the first folding portions (131, 141), and the second folding portions (132, 142) are all triangular as an example for illustration, specifically as Figures 6-8 shown. When using a triangle, not only the deformation efficiency is improved, but also the overall strength of the folding gripper 10 is increased.

[0089] As Figure 6 and Figure 7As shown, △ABC represents the first folding linkage part 11, △ABD represents the second folding linkage part 12, △ACE represents the first folding part 131 of the first folding clamping group 13, △ADE represents the second folding part 132 of the first folding clamping group 13, △BCF represents the first folding part 141 of the second folding clamping group 14, and △BDF represents the second folding part 142 of the second folding clamping group 14. Since the first folding linkage part 11 and the second folding linkage part 12 have the same structure, △ABC and △ABD are congruent triangles. In △ABC, AC is the first side, BC is the second side, and AB is the third side. In △ABD, AD is the first side, BD is the second side, and AB is the third side. In △ABD, AD is the fourth side and BD is the fifth side. O is the foot of the perpendicular from the first intersection point C to the third side, so CO is perpendicular to AB and DO is perpendicular to AB. The Z-axis is the vertical axis of the horizontal plane, the Z-axis is perpendicular to the horizontal plane, AB and CD are both parallel to the horizontal plane, O is located on the Z-axis, point H is the foot of the perpendicular from the second intersection point D or the first intersection point C to the Z-axis, point G is the foot of the perpendicular from E to the Z-axis, and point I is the foot of the perpendicular from F to the Z-axis. The lengths of both CO and DO are l 1 , the length of AO is l 2 , the length of AE is l 3 , the length of BO is l 4 , the length of BF is l 5 , the length of CD is 2d, and the lengths of both CH and DH are d. l 2 and l 4 can be of the same length or different lengths; l 3 and l 5 can be of the same length or different lengths. The length of EG is S 1 , the length of FI is S 2 , the horizontal distance between E and F is S, so S = S 1 + S 2 , and the horizontal distance refers to the length of the projection of EF on the horizontal plane. G and I can coincide or not coincide. The included angle θ 1 represents ∠DOH, the included angle θ 2 represents ∠EAO, and the included angle θ 3 represents ∠FBO. The included angle θ 1 , the included angle θ 2 and the included angle θ 3 satisfy the following relationship:

[0090]

[0091] d = l 1 sinθ 1 ;

[0092] S 1 = l 2+l 3 cos(π - θ 2 );

[0093] S 2 =l 4 +l 5 cos(π - θ 3 );

[0094] Through the above formula, it can be obtained that:

[0095]

[0096] In a preferred implementation manner of the embodiment of the present invention, as Figure 7 and Figure 9 shown,

[0097] Specifically, as Figure 8 shown, when fully folded, the first folding linkage part 11 and the second folding linkage part 12 completely overlap, CE can overlap with CO, and CE can also be located between CO and CA. When fully unfolded, ∠ACO is greater than or equal to ∠ACE, and ∠ACO is greater than or equal to half of ∠OCE, then it can be obtained that:

[0098]

[0099] Similarly, when fully folded, the first folding linkage part 11 and the second folding linkage part 12 completely overlap, CF can overlap with CO, and CF can also be located between CO and CA. As Figure 7 and Figure 9 shown, when fully unfolded, ∠BCO is greater than or equal to ∠BCE, and ∠BCO is greater than or equal to half of ∠OCF, then it can be obtained that:

[0100]

[0101] In order to achieve a balance between flexibility and strength, the present invention optimizes the geometric parameters in the origami structure. l 1 、l 2 、l 3 、l 4 、l 5 together determine the grasping range and the force arm characteristics of the folding gripper 10. By precisely regulating these parameters, a good balance can be achieved among the clamping range, the clamping force, and the grasping efficiency. Specifically, l 2 and l 4 directly affect the maximum clamping range of the folding gripper 10, while l 3 、l 5 are positively correlated with the clamping force. When the folding gripper 10 is closed, the included angle θ 2 and the included angle θ3 Determine the precision and force distribution of the clamping action, ensuring that the folding gripper 10 can stably grasp objects of various shapes and sizes. 1 Affect the closing angle of the clamping part. 1 The longer it is, the smaller the closing angle of the folding gripper 10; 1 The shorter it is, the larger the closing angle of the folding gripper 10. 2 ~ 5 Together determine the maximum expansion range of the folding gripper 10, which is suitable for optimized design when grasping larger-sized objects. 2 ~ 5 The longer it is, the wider the maximum expansion range; 2 ~ 5 The shorter it is, the narrower the maximum expansion range. 3 、 5 Directly affect the upper limit of the grasping range, that is, the size of the object that can be grasped. 3 、 5 The longer it is, the larger the grasping range; 3 、 5 The shorter it is, the smaller the grasping range.

[0102] In a preferred implementation manner of the embodiment of the present invention, as Figure 10 shown, there are at least two folding grippers 10; the first folding part is movably connected to the second folding part of the adjacent folding gripper 10; the driving device 20 is respectively movably connected to the outermost first folding linkage part 11 and the outermost second folding linkage part 12.

[0103] Specifically, when there are multiple folding grippers 10, if the multiple folding grippers 10 are arranged in sequence along the connection line direction of the first folding linkage part 11 and the second folding linkage part 12 (that is, a series structure is formed, as Figure 10As shown in the figure, the first folding parts and the second folding parts of two adjacent folding grippers 10 can be connected. Multiple folding grippers 10 can share a driving device 20, and all folding grippers 10 can be driven to fold and grip by one driving device 20. If multiple folding grippers 10 are arranged in sequence along the direction perpendicular to the connection line of the first folding linkage part 11 and the second folding linkage part 12 (i.e., forming a parallel structure), all the first folding linkage parts 11 can be connected by a first connecting beam, and all the second folding linkage parts 12 can be connected by a second connecting beam. The driving device 20 is connected to the first connecting beam and the second connecting beam, and all folding grippers 10 can be driven to fold and grip by one driving device 20. If multiple folding grippers 10 are arranged in a matrix (i.e., forming a matrix structure), all the first folding linkage parts 11 of the outermost folding grippers 10 can be connected by a first connecting beam, and all the second folding linkage parts 12 of the outermost folding grippers 10 can be connected by a second connecting beam. All folding grippers 10 can be driven to fold and grip by one driving device 20, and each folding gripper 10 can cooperate to realize the simultaneous grasping of multiple target objects. This modular design not only facilitates function expansion but also can adapt to the special requirements of different scenarios, such as grasping large-area objects or distributed operations. Of course, a driving device 20 can also be configured for each folding gripper 10, so that the folding grippers 10 can work in real-time coordination, can be closed and opened at the accurate timing, and can quickly grip multiple target objects, maximizing the overall grasping efficiency. This design not only enhances flexibility but also makes the grasping task for complex environments more efficient. For example, in a logistics sorting system, each folding gripper 10 can work independently or cooperatively to handle items of different shapes, sizes, and materials. Such a design greatly enhances the adaptability and operation efficiency of the system. The modular design makes the expansion of the system very simple. By increasing or decreasing the number of folding grippers 10, the system can be quickly adjusted to meet the changing requirements.

[0104] When multiple folding grippers 10 are arranged in sequence along the connection line of the first folding linkage part 11 and the second folding linkage part 12, the first folding linkage part 11, the second folding linkage part 12, the first folding part, and the second folding part can all be configured as trapezoids, so as to reduce the distance between the gripping parts of two adjacent folding grippers 10 and form a more compact structure.

[0105] In a preferred implementation manner of the embodiment of the present invention, as Figures 1-2 shown, the driving device 20 includes:

[0106] A first connecting column 21, which is movably connected to the corresponding first folding linkage part 11;

[0107] A second connecting column 22, which is movably connected to the corresponding second folding linkage part 12;

[0108] A driving component, which is respectively connected to the first connecting column 21 and the second connecting column 22, and is used to drive the first connecting column 21 and the second connecting column 22 to approach each other.

[0109] Specifically, the first connecting column 21 is connected to the corresponding first folding linkage portion 11, and the second connecting column 22 is connected to the corresponding second folding linkage portion 12. When the driving component drives the first connecting column 21 and the second connecting column 22 to approach or separate from each other, the first folding linkage portion 11 and the second folding linkage portion 12 can be driven to fold or unfold.

[0110] In a preferred implementation manner of the embodiment of the present invention, as Figures 1-2 shown, the driving component includes:

[0111] A first chute 231, which is connected to the first connecting column 21;

[0112] A second chute 232, which is connected to the second connecting column 22;

[0113] A first rack 233, which is arranged in the first chute 231 and extends into the second chute 232;

[0114] A second rack 234, which is arranged in the second chute 232 and extends into the first chute 231;

[0115] A gear 235, which meshes with the first rack 233 and the second rack 234 respectively;

[0116] A driving member 236, which is connected to the gear 235 and is used to drive the gear 235 to rotate.

[0117] Specifically, the driving component adopts a rack-type driving structure. By staggering the first rack 233 and the second rack 234 from each other, the first chute 231 and the second chute 232 are made to approach or separate from each other. Specifically, the driving member 236 drives the gear 235 to rotate, thereby driving the first rack 233 and the second rack 234 to stagger from each other. This driving component avoids a complex multi-point driving mechanism, simplifies the design of the system, and reduces the manufacturing complexity and cost. By applying an extrusion force to the first folding linkage portion 11 and the second folding linkage portion 12, the closing and unfolding of the folding gripper 10 are achieved, and the grasping and releasing actions are completed.

[0118] In a preferred implementation manner of the embodiment of the present invention, the folding gripper 10 is made of a flexible material and is formed by 3D printing.

[0119] Specifically, the folding gripper 10 is made of a flexible material. The flexible material has sufficient strength and flexibility. For example, it can be a polymer film or a lightweight alloy to meet the requirements of multiple folding and unfolding. The model is fabricated by 3D printing technology, avoiding the cumbersome assembly process, thereby improving the preparation efficiency and consistency. The folding gripper 10 is precisely processed by 3D printing technology to ensure that each component of the folding gripper 10 has good geometric accuracy and mechanical properties during the morphological change process.

[0120] In a preferred implementation manner of the embodiment of the present invention, a protective layer is provided on the surface of the folding gripper 10.

[0121] Specifically, a protective layer is provided on the surface of the folding gripper 10 to enhance the toughness, wear resistance and adaptability of the folding gripper 10, ensuring its reliability and effectiveness in practical applications. Ensure the superior performance of the folding gripper 10 in terms of functionality and material properties, which can meet the requirements of various grasping operations.

[0122] The flexible arrangement of these folding grippers 10 can adapt to different logistics targets and sorting strategies, thereby improving the throughput and accuracy of the entire system. This grasping array not only optimizes the use of resources, but also effectively reduces labor costs and operation time, providing a more perfect solution for industrial automation.

[0123] In addition, the design of the modular array can also be optimized through sensors and intelligent algorithms, and adjusted according to real-time grasping data to achieve higher precision and reliability. The design and application of the modular grasping array not only expand the functionality and usage scenarios of the folding gripper 10, but also improve the efficiency of intelligent manufacturing and logistics management.

[0124] Based on the controllable grasping system with the flytrap-like folding mechanism described in any one of the above embodiments, the present invention also provides a preferred embodiment of a control method for the controllable grasping system with the flytrap-like folding mechanism:

[0125] The control method of the controllable grasping system with the flytrap-like folding mechanism according to the embodiment of the present invention includes the following steps:

[0126] Step S100: Control the first folding linkage part and the second folding linkage part to fold with each other through the driving device, and drive the first folding clamping group and the second folding clamping group to fold respectively and approach each other for clamping.

[0127] Specifically, by controlling the first folding linkage part and the second folding linkage part to fold with each other through the driving device, the first folding clamping group can be driven to fold, and the second folding clamping group can be driven to fold, and the first folding clamping group and the second folding clamping group approach each other and clamp an object. By controlling the first folding linkage part and the second folding linkage part to unfold with each other through the driving device, the first folding clamping group can be driven to unfold, and the second folding clamping group can be driven to unfold, and the first folding clamping group and the second folding clamping group are separated from each other to release the object.

[0128] The control method further includes the steps of:

[0129] Step S200: Obtain a pressure value based on the pressure sensor;

[0130] Step S300: When the pressure value exceeds a preset value, stop controlling the first folding linkage part and the second folding linkage part to fold through the driving device.

[0131] Specifically, a pressure sensor is provided on the clamping part. The pressure received by the clamping part can be detected through the pressure sensor. When the pressure value exceeds the preset value, it indicates that the clamping part has clamped an object. Then, the folding of the first folding linkage part and the second folding linkage part can be stopped to prevent the first folding clamping group and the second folding clamping group from approaching further. The preset value is set according to the specific application scenario and is the preset pressure value for clamping an object without dropping it.

[0132] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or changes can be made according to the above description. All these improvements and changes shall fall within the protection scope of the appended claims of the present invention.

Claims

1. A controllable grasping system imitating the folding mechanism of a Venus flytrap, characterized in that: include: a drive device and at least one folding gripper; The folding gripper comprises: a first folding clamping group and a second folding clamping group; a first folding linkage portion and a second folding linkage portion; Wherein, the first folding linkage portion and the second folding linkage portion are both located between the first folding clamping group and the second folding clamping group; The first folding clamping group is movably connected to the first folding linkage part and the second folding linkage part respectively; The second folding clamping group is movably connected to the first folding linkage part and the second folding linkage part respectively; The driving device is used to drive the first folding linkage part and the second folding linkage part to fold each other, and drive the first folding clamping group and the second folding clamping group to fold respectively and move closer to each other for clamping.

2. The controllable grasping system imitating the folding mechanism of the Venus flytrap according to claim 1, characterized in that: The first folding clamping group and the second folding clamping group both include: A first folding portion, movably connected to the first folding linkage portion; a second folding portion, movably connected to the second folding linkage portion; Wherein, the first folding portion and the second folding portion are movably connected; An outer end of the first folded portion and / or an outer end of the second folded portion forms a clipping portion.

3. The controllable grasping system imitating the folding mechanism of the Venus flytrap according to claim 2, characterized in that: The clamping portion is provided with a pressure sensor; and / or The first folding linkage part is provided with a pressure sensor, and the second folding linkage part is provided with a pressure sensor.

4. The controllable grasping system imitating the folding mechanism of the Venus flytrap according to claim 2, characterized in that: The horizontal distance between the clamping portion of the first folding clamping group and the clamping portion of the second folding clamping group is: Wherein, S represents the horizontal distance between the clamping part of the first folding clamping group and the clamping part of the second folding clamping group, l1 represents the distance from the first intersection to the foot of the third side, the first intersection is the intersection of the first side and the second side or the intersection of the extension line of the first side and the extension line of the second side, the first side is the side where the first folding linkage part connects the first folding clamping group, the second side is the side where the first folding linkage part connects the second folding clamping group, the third side is the side where the first folding linkage part faces the second folding linkage part, and l2 represents the distance from the intersection of the first side and the third side to the foot of the third side. , l3 represents the side length of the first folding part toward the second folding part in the first folding clamping group, l4 represents the distance from the intersection of the second side and the third side to the foot of the perpendicular to the third side, l5 represents the side length of the first folding part toward the second folding part in the second folding clamping group, d represents half of the distance from the first intersection to the second intersection, the second intersection is the intersection of the fourth side and the fifth side or the intersection of the extension line of the fourth side and the extension line of the fifth side, the fourth side is the side of the second folding linkage part connecting the first folding clamping group, and the fifth side is the side of the second folding linkage part connecting the second folding clamping group.

5. The controllable grasping system imitating the folding mechanism of the Venus flytrap according to claim 4, characterized in that:

6. The controllable grasping system imitating the folding mechanism of the Venus flytrap according to claim 2, characterized in that: There are at least two folding grippers; The first folding portion is movably connected to the second folding portion of the adjacent folding gripper; The driving device is movably connected to the outermost first folding linkage part and the outermost second folding linkage part respectively.

7. The controllable grasping system imitating the folding mechanism of a Venus flytrap according to any one of claims 1 to 6, characterized in that: The folding gripper is made of flexible material and is formed by 3D printing, and a protective layer is provided on the surface of the folding gripper; the driving device comprises: A first connecting column, movably connected to the corresponding first folding linkage portion; A second connecting column, movably connected to the corresponding second folding linkage portion; The driving assembly is connected to the first connecting column and the second connecting column respectively, and is used to drive the first connecting column and the second connecting column to move closer to each other.

8. The controllable grasping system imitating the folding mechanism of the Venus flytrap according to claim 7, characterized in that: The drive assembly comprises: A first chute connected to the first connecting column; a second chute connected to the second connecting column; A first rack, disposed in the first slide groove and extending into the second slide groove; A second rack, disposed in the second slide groove and extending into the first slide groove; gears, respectively meshing with the first rack and the second rack; A driving member is connected to the gear and is used to drive the gear to rotate.

9. A control method for a controllable grasping system imitating the folding mechanism of a Venus flytrap as claimed in any one of claims 1 to 8, characterized in that: Includes steps: The driving device controls the first folding linkage part and the second folding linkage part to fold each other, and drives the first folding clamping group and the second folding clamping group to fold respectively and move closer to each other for clamping.

10. The control method of the controllable grasping system imitating the folding mechanism of the Venus flytrap according to claim 9, characterized in that: The control method further comprises the steps of: Obtaining pressure value based on pressure sensor; When the pressure value exceeds a preset value, the driving device stops controlling the first folding linkage part and the second folding linkage part to fold.

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