Micro-vibration adjusting bionic gripper

Abstract

The invention discloses a micro-vibration adjusting bionic gripper, and belongs to the field of bionic grippers. The device is composed of a main body structure, a tail end assembly structure and an adhesion structure. The tail end assembly structure is connected with the main body structure through the fixed shell; the main body structure comprises a lower shell, a gear motor, a lead screw, an upper shell, a fixing bolt, a bearing, a fixing shell and a connecting rod. And the gear motor is connected with the screw rod to provide reciprocating power, so that the screw rod can linearly move on the fixed guide rail. The tail end assembly structure comprises a connecting rod, a lower connecting rod, a first torsion spring, a second torsion spring, a bionic adhesion structure, a bearing structure and a simple harmonic vibration system. The tail end assembly structure converts the reciprocating linear motion of the lead screw into plane circular motion through mechanical conversion, and therefore the whole device is driven to carry out expected function operation. By introducing micro vibration, the bionic gripper can enhance the surface energy, and has the advantages of lossless gripping, high precision, high adaptability, convenience in operation and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to a micro-vibration adjusted bionic gripper, which involves cross technologies such as robots, bionics and intelligent control, and belongs to the field of bionic grippers. BACKGROUND

[0002] With the continuous development of automation technology, mechanical grippers have become one of the key components in various robot systems, and are widely used in industrial production, robot operation and precision assembly fields. Traditional mechanical hand grasping technology usually relies on friction or wrapping force, and ensures the stable grasping of objects through force closure and shape closure. However, these two methods usually require the size of the grasped object to be smaller than the grasping range of the mechanical hand, and it is difficult to directly grasp objects with large curvature radius on the surface. Especially in the flexibility, precision and adaptability of traditional mechanical grippers, many problems have been gradually exposed, such as grasping fragile objects, performing high-precision operations or handling non-standard objects. Common problems include damage to sensitive objects, insufficient precision and poor adaptability, and the fixed clamping force of traditional grippers may cause damage to the object, especially for fragile objects; in high-precision operations, the control precision of traditional grippers is difficult to meet the requirements, affecting grasping and positioning; and for objects of different shapes and materials, the fixed design of traditional grippers lacks flexibility, and frequent adjustment or replacement of tools is required, reducing efficiency and flexibility. To solve these problems, compared with the traditional mechanical hand, the mechanical hand based on interfacial adhesion not only can grasp large-area planar objects, but also can effectively handle large-curvature-radius curved surface objects, providing a new idea for grasping various surface objects. With the continuous development of bionic reversible adhesion surface, researchers have proposed various adhesion and detachment control technology schemes. However, these schemes still face problems such as single structure, uneven load bearing, low load capacity and slow release speed, which limit the wide application of controllable adhesion grasping technology in actual production and life.

[0003] Micro-vibration adjustment technology emerges as the times require, which uses micro-vibration or vibration fluctuation to adjust the contact characteristics of the object surface, which can improve the grasping precision, reduce the damage and enhance the adaptability. By applying micro-vibration to the surface of the gripper, the contact force can be changed, which is of great significance especially in handling fragile objects and high-precision tasks, while enhancing the surface energy and improving the adhesion of the object, so that the gripper can adapt to objects of different materials and shapes. The bionic gripper technology with micro-vibration adjustment provides higher flexibility and accuracy through intelligent sensing and real-time feedback mechanism, promotes the optimization and development of robot grasping technology, and plays an important role in emerging fields such as flexible robots, intelligent assembly systems and electronic skins. SUMMARY

[0004] The purpose of the present application is to provide a micro-vibration adjusted bionic gripper, which realizes non-destructive, accurate and efficient grasping of objects.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] The present invention discloses a micro-vibration-adjustable bionic gripper, which consists of a main structure, an end assembly structure, and an adhesion structure; the end assembly structure is connected to the main structure through a fixed shell;

[0007] The main structure includes: a lower housing, a geared motor, a lead screw, an upper housing, fixing bolts, bearings, a fixed outer shell, and a connecting rod. The lower housing encloses and supports the geared motor, ensuring its stable operation. The geared motor provides reciprocating power through its connection with the lead screw, enabling the lead screw to move linearly on a fixed guide rail. The geared motor is placed between the upper and lower housings, which are connected by fixing bolts, ensuring precise alignment and fixation between the lead screw and the upper housing. The fixed outer shell is connected to the lead screw via bearings and then to the end assembly structure, ensuring a tight integration between the main structure and the end assembly structure, achieving overall structural stability.

[0008] The end assembly structure converts the reciprocating linear motion of the lead screw into planar circular motion through mechanical conversion, thereby driving the entire device to perform the desired functional operation.

[0009] The end-effector assembly includes: a connecting rod, a lower connecting rod, a first torsion spring, a second torsion spring, a biomimetic adhesive structure, a load-bearing structure, and a simple harmonic motion system. The connecting rod and the lower connecting rod are connected by bolts to achieve coordinated movement. The end of the lower connecting rod is connected to the load-bearing structure via a torsion spring, allowing the load-bearing structure to adaptively rotate around the axis of the lower connecting rod, responding to load changes under different working environments. The inner side of the load-bearing structure is connected to the biomimetic adhesive structure, which simulates natural adhesion methods, providing stable adhesion and acting as a buffer to protect the picked-up object. The outer side of the load-bearing structure is connected to the simple harmonic motion system, utilizing the vibrations generated by the simple harmonic motion system to achieve the transmission and manipulation of the object.

[0010] The simple harmonic vibration system mainly consists of a metal vibration platform, a sound source resonant loudspeaker, a vibration base, and limiters. The vibration base has a two-stage stepped structure, with each step being cylindrical, providing strong structural support and high vibration transmission efficiency. The sound source resonant loudspeaker is fixed parallel to the two-stage steps, with one end connected to the metal vibration platform and fixed externally to the load-bearing structure, ensuring overall stability and high efficiency in vibration transmission. Limiters are used to secure the metal vibration platform and the sound source resonant loudspeaker.

[0011] Further, the micro-vibration adjusted bionic gripper contains a simple harmonic vibration system, which further comprises a Bluetooth power amplifier. The Bluetooth power amplifier is placed inside the first stage, and is connected to the resonance speaker in the second stage through a DuPont wire. The Bluetooth power amplifier is provided with a sound source signal transmission interface and a signal generator interface, which can receive external signals and convert them into vibration signals. The operation is convenient, and the vibration function of audio conduction is realized through the effective transmission of the bearing structure to the bionic adhesion structure, thereby enhancing the overall adhesion capacity and operation efficiency.

[0012] Further, the bionic adhesion structure of the micro-vibration adjusted bionic gripper is composed of a plurality of micro-column arrays, wherein the size, arrangement and morphology of each micro-column are simulated by bionic design to simulate the adhesion mechanism of the gecko foot in nature, which can effectively enhance the adhesion force on the surface and realize efficient and reliable grabbing on various surfaces.

[0013] Further, the grabbing effect of the bionic adhesion micro-column array of the micro-vibration adjusted bionic gripper is mainly based on physical contact force (such as van der Waals force, electrostatic force, etc.), rather than relying on chemical bonding. Compared with traditional glue (usually one-time use), the micro-column array can restore its adhesion performance after multiple uses without the need for replacement or reapplication. This feature makes the bionic adhesion micro-column array more economical and sustainable in long-term use.

[0014] Further, the bionic adhesion structure of the micro-vibration adjusted bionic gripper has self-adaptability, which can automatically adjust the contact mode and pressure distribution according to the micro-morphology changes of the surface of the grabbed object. Specifically, through the micro-vibration adjustment system, the gripper can detect the changes of surface morphology and hardness in real time, and automatically optimize the arrangement of the micro-column array and the contact force, so as to realize precise grabbing of complex and irregular surfaces. This self-adaptive feature not only improves the grabbing performance, but also significantly enhances the flexibility and application range of the gripper.

[0015] Further, the bionic adhesion structure of the micro-vibration adjusted bionic gripper integrates a vibration source module, which can generate dynamic adhesion force through micro-vibration, simulating the adhesion mechanism of some organisms (such as octopus suckers and gecko foot pads) in nature. These micro-vibrations can adjust the strength and stability of the adsorption force when the micro-column contacts the surface, so as to realize efficient grabbing of smooth, slippery, rough or irregular surface objects, and improve the stability of the grabbing force and the reliability of the grabbed objects during the grabbing process.

[0016] Furthermore, the biomimetic gripper with micro-vibration adjustment incorporates a biomimetic adhesive structure that has a crack-suppressing function, effectively suppressing surface cracks or damage caused by stress concentration during gripping. By designing the flexibility of the micropillars and adjusting the frequency of micro-vibration, this structure can uniformly distribute stress during gripping, avoiding the formation of localized high-stress areas on the surface, thereby reducing damage or crack formation caused by prolonged use or repeated gripping. This characteristic significantly improves the service life and durability of the biomimetic gripper, making it suitable for gripping precision surfaces or brittle materials.

[0017] Furthermore, the overall design of the micro-vibration-adjustable bionic gripper's outer shell is entirely manufactured using 3D printing technology, which is highly efficient and allows for customized production based on actual needs. This technology not only effectively reduces material waste in traditional manufacturing processes but also significantly shortens product development and production cycles. In addition, the flexibility of 3D printing technology allows for the creation of complex geometries and intricate structures during the design process, providing greater optimization potential for both the functional implementation and aesthetic design of the bionic gripper.

[0018] Furthermore, the core innovation of this micro-vibration-tunable biomimetic gripper lies in the introduction of active micro-vibration to dynamically adjust the interfacial adhesion force of the biomimetic adhesive structure. Its theoretical basis is the combination of the classic Johnson-Kendall-Roberts (JKR) contact theory and the rate-dependent characteristics of viscoelastic materials. Starting with the consideration of a viscoelastic sphere of radius R (simulating a micro-protrusion of the biomimetic adhesive structure) in contact with a rigid plane subjected to forced simple harmonic vibration, the pressure distribution is expressed as…

[0019] (1)

[0020] This is further converted into dynamic pressure distribution.

[0021] (2)

[0022] approximate assumption

[0023] , (3)

[0024] roll out

[0025] (4)

[0026] Based on the empirical model introduced by Gent and Schultz et al. in 1972, the average effective adhesive work over one oscillation cycle is approximately...

[0027] (5)

[0028] The pressure distribution generated by rigid body displacement is substituted into equation (4) to obtain the elastic surface contact pressure distribution under the action of surface energy and simple harmonic vibration:

[0029] + + (6)

[0030] Integrating the total load is obtained:

[0031] (7)

[0032] (8)

[0033] where N is the number of single micro-pillars in the end biomimetic adhesion structure, which is an integer; f represents the contact force of a single micro-pillar on the object under the action of vibration adjustment, where K is the effective contact modulus, a is the contact radius, R is the radius of the sphere at the end of the single micro-pillar, and is the expression form of the small perturbation quantity brought by simple harmonic vibration. For the quasi-static contact radius and the contact distribution force , and , is the average adhesion work in the oscillation period under simple harmonic vibration, is the quasi-static adhesion work, and m is a material-related characteristic coefficient, is the angular frequency, which can be represented by , where represents the crack propagation speed. When the vibration is turned off, at this time = , can be represented as:

[0034] (9)

[0035] Further, the method for the micro-vibration-adjusted biomimetic gripper to grasp an object includes the following steps:

[0036] Step 1: Adjust the position of the gripper

[0037] First, ensure that the gripper system is in an initial unloaded state. Then, precisely move the gripper above the target object, ensuring that the gripper is parallel to the object surface and its position is accurate. The key to this step is to ensure the relative position of the gripper and the object is accurate through the positioning system to avoid errors that may cause the grasping to fail.

[0038] Step 2: Confirm the stability of the object position

[0039] After the gripper is in place, a slight contact is made with the target object using the clamping device to check if the object is in a stable grasping position. If there is any deviation or instability, immediate adjustments should be made to ensure the object is securely fixed, avoiding the risk of loosening or deviation during the subsequent grasping process.

[0040] Step Three: Adjusting the Clamping Force of the Gripper and Object

[0041] A uniform and appropriate clamping force is applied using the clamping device to ensure that the object does not shift due to excessive tightness or looseness. This process requires adjusting the force and angle of the clamping device to ensure the stability of the object while avoiding unnecessary damage to the object.

[0042] Step Four: Connecting the Deceleration Motor and Speaker Power Supply

[0043] After confirming the stability of the gripper clamping, the power supply connection of the deceleration motor and the resonant speaker is performed. The key of this step is to ensure that the motor and speaker system are in standby state, providing sufficient response time for subsequent operations. The speed of the motor should be adjusted to the initial grasping state to avoid violent fluctuations when starting.

[0044] Step Five: Starting the Deceleration Motor and Adjusting Parameters

[0045] Start the deceleration motor through the control system to make it work. At this time, the speed and torque of the motor should be accurately adjusted to ensure that the motor can start smoothly and there is no vibration or jamming phenomenon. The adjustment of the deceleration motor should be optimized according to the size and weight of the object to ensure the smooth operation of the system during the grasping process.

[0046] Step Six: Driving the Lead Screw for Reciprocating Displacement

[0047] After the motor is started stably, the reciprocating motion system of the lead screw is started. Adjust the moving amplitude and speed of the lead screw through the control system to ensure that the displacement of the lead screw can be accurately controlled. The reciprocating motion of the lead screw is converted into rotary motion through mechanical transmission devices, providing accurate motion trajectory for the subsequent grasping action.

[0048] Step Seven: Converting Motion with Crank and Driving End Adhesion Structure

[0049] The reciprocating motion of the lead screw drives the crank system to rotate, which in turn drives the end adhesion structure. At this time, ensure that the rotary motion of the crank can be accurately transmitted to the end device and make the end adhesion structure contact the grasped object. The action of the end adhesion structure should be flexible and accurate, which can contact the object surface at the appropriate time and prepare for the subsequent vibration grasping.

[0050] Step Eight: Starting the Vibration Platform and Adjusting Frequency and Amplitude

[0051] Finally, turn on the power of the vibration platform and start the Bluetooth power amplifier, and send the audio signal of the preset frequency and amplitude to the speaker. The frequency and amplitude of the vibration platform are adjusted accurately by the computer to achieve the best working state, ensuring the success of the object. Different materials, sizes and surface roughness of the grabbed object can achieve successful adhesion and grabbing.

[0052] The effect of vibration on the adhesion of the bionic adhesion material is mainly determined by the viscoelastic interaction mechanism between the surfaces. Under the condition of vibration amplitude, the contact interface of the material may be damaged or slip, resulting in a decrease in the pull-off force. Therefore, under different amplitude conditions, the change of adhesion force reflects the complex relationship between adhesion, friction, surface microstructure and dynamic response, which can make the bionic adhesion material take and place objects quickly by changing the vibration conditions, and is helpful for the application in the fields of soft robot, chip manufacturing, medical electronic skin, etc.

[0053] Advantages:

[0054] 1. The micro-vibration adjusted bionic gripper disclosed by the application adopts a self-built dynamic bionic adhesion force measuring device, simulates a dynamic environment through micro-vibration adjustment technology, can realize close adhesion to the surface of an object under vibration or dynamic loading conditions, and can realize non-destructive grabbing of fragile objects, reducing damage to the object, and is especially suitable for operation of fragile or precise objects.

[0055] 2. The key advantage of the micro-vibration adjusted bionic gripper disclosed by the application is that it can change the contact force between the gripper and the surface of the object through fine vibration. By optimizing the surface energy, the adhesion of the gripper to the object is enhanced, and the precision is improved without the need for large force grabbing. The application is very important in precise operation, especially when grabbing small, fragile or irregularly shaped objects, making the grabbing process more accurate, and is especially suitable for high-precision tasks and operations.

[0056] 3. The micro-vibration adjusted bionic gripper disclosed by the application can dynamically adjust according to the shape, size and material of different objects, improving the adaptability of the grabbing device to diversified objects and increasing the flexibility of operation. This feature not only enhances the versatility of the grabbing device, but also reduces the difficulty of operation caused by changes in object characteristics. This dynamic adjustment enables the bionic gripper to work efficiently in a wider range of environments, especially in variable or complex working scenarios.

[0057] 4. The micro-vibration adjusted bionic gripper disclosed by the application optimizes the normal contact force between the material surface microstructure and the object by adjusting the amplitude and frequency of the micro-vibration, which can reduce unnecessary friction during the grabbing process and ensure stable grabbing.

[0058] 5. The micro-vibration adjusted bionic gripper disclosed in the present application combines mechanical movement and vibration adjustment, and can realize efficient and flexible grabbing operation in complex environment, solving the problem of poor flexibility of traditional grippers.

[0059] 6. The micro-vibration adjusted bionic gripper disclosed in the present application is helpful to improve the load capacity of the gripper, especially when grabbing objects with large radius of curvature, can effectively improve the grabbing stability and carrying capacity.

[0060] 7. The micro-vibration adjusted bionic gripper disclosed in the present application modifies the traditional classic JKR theory, so that the JKR theory is applicable to the adhesion behavior under micro-vibration contact. Through the improvement of the classic JKR theory (Johnson-Kendall-Roberts theory), it is adapted to the adhesion behavior under micro-vibration contact. JKR theory is mainly used to describe surface contact and adhesion force, while the contact behavior under micro-vibration condition may be different from the traditional theory. Through adaptive adjustment, the adhesion characteristics in the grabbing process can be better predicted, and the grabbing precision and efficiency are improved.

[0061] 8. The micro-vibration adjusted bionic gripper disclosed in the present application adopts a low-power vibration platform, so that the micro-vibration adjusted bionic gripper has obvious advantages in energy efficiency, especially in long-term operation or scenes requiring a large number of grabbing operations, which can significantly reduce the energy consumption of the system. At the same time, the low-power design helps to improve the durability and maintainability of the equipment. The micro-vibration adjustment method realizes higher grabbing efficiency through the low-power vibration platform, has lower energy consumption compared with the commonly used mechanical arm at present, and improves the overall performance of the system.

[0062] 9. The micro-vibration adjusted bionic gripper disclosed in the present application can adapt to objects of different shapes, sizes and materials, reduce the dependence on different tools or accessories, make it can cope with more diversified task requirements, at the same time, reduce the system complexity and cost, improve the working efficiency and flexibility of the grabbing system.

[0063] 10. The micro-vibration adjusted bionic gripper disclosed in the present application can be widely used in flexible robots, intelligent assembly systems, electronic skins, chip manufacturing and other fields on the basis of realizing the above beneficial effects, and has the advantages of higher efficiency and higher reliability. BRIEF DESCRIPTION OF DRAWINGS

[0064] Figure 1 It is a micro-vibration adjusted bionic gripper main structure;

[0065] Figure 2 It is the end assembly structure;

[0066] Figure 3 The bionic gripper end adhesive assembly is used for

[0067] Figure 4 The vibration-enhanced adhesion experiment column chart.

[0068] Wherein, 1—connecting rod, 2—fixed shell, 3—upper shell, 4—fixing bolt, 5—lower shell, 6—screw rod, 7—bearing, 8—reduction motor, 9—lower connecting rod, 10—first torsional spring, 11—second torsional spring, 12—bionic adhesive structure, 13—simple harmonic vibration system, 14—bearing structure, 15—metal vibration platform, 16—sound source resonance loudspeaker, 17—vibration base, 18—limiting device, 19—Bluetooth power amplifier. DETAILED DESCRIPTION

[0069] In order to better illustrate the purpose and advantages of the present application, the content of the application is further illustrated below in combination with the drawings and examples.

[0070] Example 1

[0071] The embodiment discloses a use method of the bionic gripper with micro-vibration adjustment, aims to realize non-destructive grabbing of substances such as round crystals and silicon wafers, and realizes grabbing of fragile objects by controlling vibration conditions, contact force and displacement, thereby providing a basis for optimization and development of robot grabbing technology in the future, and is expected to play an important role in emerging fields such as flexible robots, intelligent assembly systems and electronic skins. Figure 1 2 As shown in FIG. 3, the main structure of the bionic gripper with micro-vibration adjustment disclosed in the embodiment comprises a lower shell 5, a reduction motor 8, a screw rod 6, an upper shell 3, a fixing bolt 2, a bearing 7, a fixed shell 2 and a connecting rod 1; the lower shell 5 is used for wrapping and supporting the reduction motor 8, so as to ensure stable operation of the motor. The reduction motor 8 provides reciprocating power through connection with the screw rod 6, so that the screw rod 6 can move linearly on the fixed guide rail. The reduction motor 8 is placed between the upper shell 3 and the lower shell 5, and the upper shell and the lower shell are connected through the fixing bolt 4, while ensuring accurate butt joint and fixation between the screw rod 6 and the upper shell 3. The fixed shell 2 is connected with the screw rod 6 through the bearing, and is connected with the end assembly structure, so that the main structure and the end assembly structure are closely combined, and the overall structural stability is realized.

[0072] The end assembly structure converts the reciprocating linear motion of the screw rod into planar circular motion through mechanical conversion, so as to drive the whole device to perform the desired functional operation.

[0073] ​The terminal assembly structure comprises: a connecting rod 1, a lower connecting rod 9, a first torsional spring 10, a second torsional spring 11, a bionic adhesive structure 12, a bearing structure 14 and a simple harmonic vibration system 13; the connecting rod 1 is connected with the lower connecting rod 9 through a bolt to realize coordinated movement. The lower connecting rod 9 is connected with the bearing structure 14 through a torsional spring, so that the bearing structure 14 can adaptively rotate around the axis of the lower connecting rod 9 to respond to load changes in different working environments. The inner side of the bearing structure is connected with the bionic adhesive structure, which simulates the adhesion mode in nature to provide stable adhesion capability and also serves as a buffer to protect the picked objects. The outer side of the bearing structure is connected with the simple harmonic vibration system, which generates vibration to realize the transfer and operation of the objects.

[0074] The simple harmonic vibration system mainly comprises a metal vibration platform 15, a sound source resonance loudspeaker 16, a vibration base 17 and a limit stop 18; the vibration base has a two-stage step structure, and the steps are cylindrical, having strong structural support and vibration transmission efficiency. The sound source resonance loudspeaker is fixed in parallel on the two-stage steps, one end of which is connected with the metal vibration platform and fixed outside the bearing structure, ensuring the overall stability and high efficiency of vibration transmission. The limit stop is used to fix the metal vibration platform and the sound source resonance loudspeaker;

[0075] The Bluetooth power amplifier 19 is arranged inside the first-stage step and connected with the resonance loudspeaker in the second-stage step through a DuPont wire. The Bluetooth power amplifier is provided with a sound source signal transmission interface and a signal generator interface, which can receive external signals and convert them into vibration signals, which are effectively transmitted to the bionic adhesive structure through the bearing structure, so as to realize the vibration function of audio conduction and enhance the overall adhesion capability and operation efficiency.

[0076] In this embodiment, the reduction motor is a 42BYGH34 type two-phase hybrid stepper motor, which is matched with a PLX10-D10 type planetary reducer (reduction ratio 10:1). The transmission system selects a TR8x2 type trapezoidal screw, which is matched with a SFU1204 type linear guide rail. The support structure and the upper and lower shells are processed by a bamboo H2D printer, and the material is selected from PLA-CF, which is fixed by M4x20 stainless steel internal hexagonal bolts. The bearing system adopts 608ZZ deep groove ball bearings to support the screw transmission.

[0077] The adhesive structure is a bionic adhesive structure, which simulates the multi-stage structure shape of the gecko foot in nature. The adhesive structure is composed of a plurality of divided blocks, each of which has a plurality of mushroom head-shaped microcolumn arrays. The size, arrangement and morphology of each microcolumn are simulated by bionic design to simulate the adhesion mechanism of the gecko foot in nature, which can effectively enhance the adhesion force on the grasping surface and realize efficient and reliable grasping on various surfaces.

[0078] In this embodiment, the adhesion structure uses polydimethylsiloxane, the mold is first prepared by a light-cured 3D printer, the material is photosensitive resin, the first mold is mixed with a crosslinking agent and a curing agent at a ratio of 13:1, vacuumized for 15 minutes, and placed in an oven for 1 hour, then the first mold is fluorinated, the second mold is prepared, the crosslinking agent and the curing agent are mixed at a ratio of 10:1, vacuumized for 15 minutes, and placed in an oven for about 1 hour, and then the PDMS-based biomimetic adhesion structure is obtained by demolding.

[0079] In this embodiment, the micro-column end sphere radius is R=2.5mm, K=1.5MPa, =0.202N / m, the amplitude is 350HZ, and the amplitude is 50um. Through experimental comparison, the surface contact force of a single micro-column is greater in the quasi-static pull-off and in the 350HZ, 50um vibration environment. Through experimental observation, it is found that the adhesion force of a single micro-column is the largest and can be enhanced by eight times at 350HZ and 50um. The formula is matched, Figure 4 is a vibration-enhanced adhesion force experimental column chart. Next, taking a silicon wafer with a diameter of 10cm and a thickness of 0.5mm as an example, the working process of the biomimetic gripping system is described. The working process starts with accurate positioning: first, move the gripper to the top of the silicon wafer, and fix it through the external structure to ensure accurate initial alignment. After the system is started, the power of the speed reducer and the vibration platform is turned on, and the whole device is reset to the initial standby state. At this time, the biomimetic adhesion structure is in the preparation position away from the object.

[0080] In the contact and loading stage, the speed reducer drives the screw to move downward, and the crank linkage mechanism drives the end execution assembly to move downward stably. When the biomimetic adhesion structure contacts the surface of the silicon wafer, the system applies a small static pre-pressure which is accurately controlled to ensure that the gripper and the surface of the silicon wafer establish a close and stable contact.

[0081] After contact, the vibration platform is activated, the computer sends audio signals of specific frequency and amplitude to the Bluetooth power amplifier, and the micro-vibration is generated by the resonant loudspeaker. This vibration is efficiently transmitted to the entire biomimetic adhesion structure through the metal sheet and the bearing plate. Based on the adhesion theory model, the interface effective adhesion work will reach the peak value under the condition of a specific medium amplitude, so that reliable gripping is realized.

[0082] After the gripping is completed, the system lifts the gripper while keeping the vibration, so as to realize stable carrying of the object. When the object needs to be released, the system provides two release strategies: one is to directly stop the vibration, so that the adhesion force returns to the static level, and the natural separation is realized by relying on gravity or slight external force; the other is to increase the vibration amplitude to above the critical value, so as to actively destroy the interface contact state and realize fast and controllable active release.

[0083] The embodiment discloses a method for micro-vibration adjusted bionic gripper to grab objects, and the implementation steps are as follows:

[0084] Step one: Adjust the position of the gripper

[0085] First, ensure that the gripper system is in the initial unloaded state. Then, move the gripper precisely above the target object, ensuring that the gripper is parallel to the object surface and its position is accurate. The key to this step is to ensure the relative position of the gripper and the object is accurate through the positioning system to avoid errors that may cause the grabbing to fail.

[0086] Step two: Confirm the stability of the object position

[0087] After the gripper is in place, use the clamping device to make a slight contact with the target object to check if the object is in a stable grabbing position. If the object has a deviation or unstable state, it should be immediately fine-tuned to ensure that the object is firmly fixed and avoid the risk of loosening or deviation in the subsequent grabbing process.

[0088] Step three: Fix the clamping force of the gripper and the object

[0089] Use the clamping device to apply uniform and moderate clamping force to ensure that the object will not be displaced due to excessive or insufficient clamping. This process requires adjusting the force and angle of the clamping device to ensure the stability of the object while avoiding unnecessary damage to the object.

[0090] Step four: Connect the speed reducer motor and the speaker power supply

[0091] After confirming the stability of the gripper clamping, connect the speed reducer motor and the resonant speaker power supply. The key to this step is to ensure that the motor and speaker system are in standby state to provide sufficient response time for subsequent operations. The speed of the motor should be adjusted to the initial grabbing state so that it will not produce violent fluctuations when starting.

[0092] Step five: Start the speed reducer motor and adjust the parameters

[0093] Start the speed reducer motor through the control system to make it work. At this time, the speed and torque of the motor should be accurately adjusted to ensure that the motor can start smoothly and there is no vibration or jamming phenomenon. The adjustment of the speed reducer motor should be optimized according to the size and weight of the object to ensure the smooth operation of the system during the grabbing process.

[0094] Step six: Drive the lead screw to move back and forth

[0095] After the motor is started stably, the reciprocating motion system of the lead screw is started. The control system adjusts the moving range and speed of the lead screw to ensure that the displacement of the lead screw can be accurately controlled. The reciprocating motion of the lead screw is converted into rotary motion through a mechanical transmission device, so as to provide an accurate motion trajectory for the subsequent grabbing action.

[0096] Step seven: crank conversion motion and driving end adhesion structure

[0097] The reciprocating motion of the lead screw drives the crank system to rotate, and then drives the end adhesion structure. At this time, it is ensured that the rotary motion of the crank can be accurately transmitted to the end device, and the end adhesion structure is in contact with the object to be grabbed. The action of the end adhesion structure should be flexible and accurate, and can be in contact with the surface of the object at the appropriate time, so as to prepare for the subsequent vibration grabbing.

[0098] Step eight: start the vibration platform and adjust the frequency and amplitude

[0099] Finally, the power supply of the vibration platform is turned on, and the Bluetooth power amplifier is started to send audio signals of the preset frequency and amplitude to the loudspeaker. The frequency and amplitude of the vibration platform are accurately adjusted by using a computer, so that the vibration platform reaches the best working state, and the object is successfully grabbed. Different materials, sizes and surface roughness of the object to be grabbed can be successfully adhered and grabbed.

[0100] The influence of vibration on the adhesion force of the bionic adhesion material is mainly determined by the viscoelastic action mechanism between the surfaces. Under the vibration amplitude condition, the contact interface of the material may be damaged or slip, resulting in a decrease in the pull-off force. Therefore, under different vibration amplitude conditions, the change of the adhesion force reflects the complex relationship between adhesion, friction, surface microstructure and dynamic response. This application can quickly pick and place objects by changing the vibration conditions, which is helpful for the application in the fields of soft robot, chip manufacturing, medical electronic skin and the like.

[0101] The application has the outstanding advantage of excellent adaptability. According to the physical characteristics of different objects, the optimal vibration frequency and amplitude parameters can be pre-set or real-time adjusted through experimental data or theoretical model prediction, so that the best grabbing and releasing effect can be achieved under various working conditions. The intelligent parameter adjustment capability of the application enables the system to adapt to the diversified application scene requirements.

[0102] The above specific description further details the purpose, technical scheme and beneficial effects of the application. It should be understood that the above description is only a specific embodiment of the application and is not used to limit the protection scope of the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A micro-vibration regulated bionic gripper, characterized in that: The application relates to a bionic adhesion device, which comprises a main body structure, a terminal assembly structure and an adhesion structure. The main body structure comprises a lower shell (5), a speed reducer motor (8), a screw rod (6), an upper shell (3), a fixing bolt (2), a bearing (7), a fixed shell (2) and a connecting rod (1); the lower shell (5) is used for wrapping and supporting the speed reducer motor (8) to ensure stable operation of the motor; the speed reducer motor (8) provides reciprocating power through connection with the screw rod (6), so that the screw rod (6) can move linearly on the fixed guide rail; the speed reducer motor (8) is arranged between the upper shell (3) and the lower shell (5); the upper shell (3) and the lower shell (5) are connected through the fixing bolt (4) and are fixedly connected with the screw rod (6) and the upper shell (3) to ensure accurate butt joint between the screw rod (6) and the upper shell (3); the fixed shell (2) is connected with the screw rod (6) through the bearing and is connected with the terminal assembly structure, so that the main body structure and the terminal assembly structure are closely combined, and the overall structural stability is realized. The terminal assembly structure converts the reciprocating linear motion of the screw rod into planar circular motion through mechanical conversion, so that the whole device is driven to perform desired functional operation. The terminal assembly structure comprises the connecting rod (1), a lower connecting rod (9), a first torsional spring (10), a second torsional spring (11), a bionic adhesion structure (12), a bearing structure (14) and a simple harmonic vibration system (13); the connecting rod (1) and the lower connecting rod (9) are connected through bolts to realize coordinated motion; the lower connecting rod (9) is connected with the bearing structure (14) through a torsional spring at the end, so that the bearing structure (14) can rotate around the shaft of the lower connecting rod (9) to adapt to load changes in different working environments; the inside of the bearing structure is connected with the bionic adhesion structure; the bionic adhesion structure simulates the adhesion mode in nature to provide stable adhesion capacity and simultaneously plays a buffering role to protect the picked objects; the outside of the bearing structure is connected with the simple harmonic vibration system, and the vibration generated by the simple harmonic vibration system is used to realize the transmission and operation of the objects. The simple harmonic vibration system mainly comprises a metal vibration platform (15), a sound source resonance loudspeaker (16), a vibration base (17) and a limit stop (18); the vibration base is a two-stage stepped structure, and the steps are cylindrical; the sound source resonance loudspeaker is fixed in parallel on the two-stage steps, one end of the sound source resonance loudspeaker is connected with the metal vibration platform and is fixed outside the bearing structure; and the limit stop is used for fixing the metal vibration platform and the sound source resonance loudspeaker.

2. The micro-vibration adjusted bionic gripper according to claim 1, wherein: The simple harmonic vibration system further comprises a Bluetooth power amplifier (19); the Bluetooth power amplifier is arranged inside the first-stage step and is connected with the resonance loudspeaker in the second-stage step through a DuPont wire; a sound source signal transmission interface and a signal generator interface are arranged on the Bluetooth power amplifier; the interfaces are used for receiving external signals and converting the external signals into vibration signals, which are effectively transmitted to the bionic adhesion structure through the bearing structure, so that the vibration function of audio conduction is realized.

3. The micro-vibration adjusted bionic gripper according to claim 1, wherein: The bionic adhesion structure is composed of a plurality of microcolumn arrays, the size, arrangement and morphology of each microcolumn are simulated through bionic design to simulate the adhesion mechanism of the feet of a wall gecko in nature.

4. The micro-vibration adjusted bionic gripper according to claim 1, wherein: The gripping effect of the biomimetic adhesion micro-pillar array is mainly based on physical contact force; the micro-pillar array can restore its adhesion performance after multiple uses without replacement or re-coating.

5. A micro-vibration regulated bionic gripper according to claim 1, wherein, Through the micro-vibration adjustment system, the gripper can detect the changes in surface morphology and hardness in real time and automatically optimize the arrangement of the micro-pillar array and the contact force, achieving precise gripping of complex and irregular surfaces.

6. A micro-vibration regulated bionic gripper according to claim 1, wherein, The biomimetic adhesion structure integrates a vibration source module, generates dynamic adhesion force through micro-vibration, simulates the adhesion mechanism of organisms in nature, and adjusts the strength and stability of the adsorption force when the micro-pillar contacts the surface through micro-vibration, thereby achieving efficient gripping of smooth, slippery, rough, or irregular surface objects.

7. A micro-vibration regulated bionic gripper according to claim 1, wherein, The biomimetic adhesion structure has a crack inhibition function, inhibiting surface cracks or damage caused by stress concentration during the gripping process; by adjusting the flexibility of the micro-pillars and the frequency of micro-vibration, the biomimetic adhesion structure can uniformly distribute stress during the gripping process, avoiding the generation of local high-stress areas on the surface, thereby reducing damage or crack generation caused by long-term use or multiple gripping.

8. The micro-vibration adjustment bionic gripper according to claim 1, wherein: The overall structure of the shell is made of 3D printing.

9. The micro-vibration adjustment bionic gripper according to claim 1, wherein: Adjusting the contact force between the surface microstructure of the bionic adhesive structure and the object to be grabbed by applying a simple harmonic vibration to a metal vibrating platform : where N is the number of single micro-pillars in the terminal biomimetic adhesion structure, f represents the contact force of single micro-pillar to the grabbed object under the vibration adjustment, K is the effective contact modulus, a is the contact radius, and R is the radius of the single micro-pillar terminal sphere, With is the expression form of the small perturbation quantity brought by the simple harmonic vibration, for the quasi-static contact radius and the contact distribution force , and , is the average adhesion work in the oscillation period under the simple harmonic vibration, is the quasi-static adhesion work, and m is a characteristic coefficient related to the material, is the angular frequency, and is represented by , represents the crack propagation speed; when the vibration is turned off, at this time = , is represented as: 。 10. The method of grasping an object with a biomimetic gripper as claimed in claim 1, 2, 3, 4, 5, 6, 7, 8 or 9, characterized in that: The steps include: Step 1: Adjust the position of the gripper Ensure that the gripper system is in the initial unloaded state; accurately move the gripper above the target object, ensuring that the gripper is parallel to the object surface and its position is accurate; Step 2: Confirm the stability of the object position After the gripper is in place, use the clamping device to make slight contact with the target object to check if the object is in a stable gripping position; if the object is offset or unstable, it should be adjusted immediately to ensure that the object is firmly fixed to avoid the risk of loosening or shifting during the subsequent gripping process; Step 3: Fix the clamping force of the gripper and the object Use the clamping device to apply uniform and moderate clamping force to ensure that the object does not shift due to excessive or insufficient clamping; This process requires adjusting the force and angle of the clamping device to ensure the stability of the object while avoiding unnecessary damage to the object; Step 4: Connect the reducer motor and speaker power supply After confirming the stability of the gripper clamping, connect the power supply of the reducer motor and the resonant speaker; the key of this step is to ensure that the motor and speaker system are in standby state to provide sufficient response time for subsequent operations; the speed of the motor should be adjusted to the initial gripping state to prevent violent fluctuations when starting; Step 5: Start the reducer motor and adjust the parameters Start the reducer motor through the control system to make it work; at this time, the speed and torque of the motor should be accurately adjusted to ensure that the motor starts smoothly without vibration or jamming; the adjustment of the reducer motor should be optimized according to the size and weight of the object to ensure the smooth operation of the system during the gripping process; Step 6: Drive the lead screw for reciprocating displacement After the motor is started stably, start the reciprocating motion system of the lead screw; adjust the moving amplitude and speed of the lead screw through the control system to ensure that the displacement of the lead screw can be accurately controlled; the reciprocating motion of the lead screw is converted into rotary motion through a mechanical transmission device to provide an accurate motion trajectory for the subsequent gripping action; Step 7: Convert the motion of the crank and drive the end adhesion structure The reciprocating motion of the lead screw drives the crank system to rotate, and then drives the end adhesion structure; at this time, it is ensured that the rotary motion of the crank can be accurately transmitted to the end device, and the end adhesion structure is in contact with the object to be grabbed; the action of the end adhesion structure should be flexible and accurate, and can contact the surface of the object at the appropriate time, and prepare for the next vibration grabbing; Step eight: start the vibration platform and adjust the frequency and amplitude Turn on the power supply of the vibration platform and start the Bluetooth power amplifier, send the audio signal of the preset frequency and amplitude to the loudspeaker; use the computer to accurately adjust the frequency and amplitude of the vibration platform, so that it reaches the best working state, and ensures that the object is successfully grabbed and stabilized in the gripper system.

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