Stiffness-variable curved surface origami microgripper and preparation method thereof

Abstract

The application discloses a variable-rigidity curved-surface origami micro-gripper and a preparation method thereof. The micro-gripper comprises a curved-surface bending structure and a driving mechanism. The curved-surface bending structure comprises a gripping main body and a preset crease component. The gripping main body comprises a main body part and a plurality of gripping parts movably arranged on the main body part to grip an object. The preset crease component is arranged on the gripping main body and is configured to be capable of being switched between a first mode and a second mode to adjust the overall rigidity of the curved-surface bending structure. The driving mechanism is connected with the main body part to drive the main body part to deform, so as to drive the gripping parts to move close to or away from each other. According to the micro-gripper, the preset crease component can be switched between the first mode and the second mode to adjust the overall rigidity, so that the micro-gripper can be switched between low-rigidity compliant gripping and high-rigidity forceful gripping, and the adaptability and gripping safety of the micro-gripper in a narrow space can be improved. The curved-surface bending structure does not have a complex mechanical structure and is easy to assemble.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive surgical instruments, and in particular to a variable stiffness curved surface origami micro gripper and its preparation method. Background Technology

[0002] Minimally invasive surgery typically requires the use of slender instruments inserted through tiny incisions to perform operations such as clamping, traction, separation, and extraction. As the end effector that directly acts on the tissue or instrument target, the clamping force, compliance, response speed, and stability of the clamp directly affect the safety and precision of the surgical procedure.

[0003] Existing minimally invasive surgical grippers mostly employ mechanical structures with rigid components, cable drives, or multiple kinematic pairs. While the manufacturing and control methods of these structures are relatively mature, they still present the following problems in micro-scale and confined spaces: First, the large number of rigid components and hinge kinematic pairs leads to complex assembly, making them prone to friction, wear, and gaps, resulting in decreased force transmission efficiency; second, the gripping part lacks flexibility, easily causing localized stress concentration when facing fragile tissues or delicate targets; third, traditional cable drives typically rely on unidirectional tension transmission, leading to problems such as cable wear, fatigue, slack, limited control precision, and insufficient environmental adaptability.

[0004] Origami structures possess advantages such as unfoldability, high storage ratio, reconfigurability, and geometrically induced mechanical properties. They can achieve compliant movement and adjustable mechanical response on thin sheet materials through creases, curvature, and geometric unit design, providing a new approach to solving the aforementioned problems. Therefore, this invention provides a compact, reliable bidirectional drive medical micro-gripper that can switch between low-stiffness compliant gripping and high-stiffness forceful gripping, thereby improving the shortcomings of existing grippers in terms of adaptability to confined spaces, gripping safety, and force transmission efficiency. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention provides a variable stiffness curved surface origami micro gripper, which can switch between low-stiffness compliant gripping and high-stiffness strong gripping.

[0006] The present invention also proposes a method for preparing the above-mentioned variable stiffness curved surface origami micro gripper.

[0007] According to a first aspect of the present invention, a miniature gripper includes: a curved bending structure and a driving mechanism. The curved bending structure includes a gripping body and a preset crease component. The gripping body includes a main body portion and a plurality of gripping portions disposed on the main body portion that are movable relative to each other to grip an article. The preset crease component is disposed on the gripping body portion and configured to switch between a first form and a second form to adjust the overall stiffness of the curved bending structure. The driving mechanism is connected to the main body portion to drive the main body portion to deform, thereby causing the gripping portions to move closer or further apart.

[0008] According to embodiments of the present invention, the miniature gripper with a pre-set crease component can switch between a first and a second form to adjust the overall stiffness. This allows the miniature gripper to switch between low-stiffness compliant gripping and high-stiffness powerful gripping, improving its adaptability and gripping safety in confined spaces. The curved bending structure lacks complex mechanical structures, is easy to assemble, and improves the efficiency of gripping force transmission. The force transmission of the curved bending structure is real-time; compared to traditional rope-driven systems that only transmit unidirectional tension, the curved bending structure can also transmit bidirectional push and pull forces, significantly improving response speed and control precision. The curved bending structure is foldable and compact, with a high storage ratio, making it particularly suitable for endoscopic surgery, micro-assembly, and space-constrained scenarios.

[0009] In some embodiments, the first form of the preset crease component is a naturally flattened state or an unfolded state, so that the overall structural stiffness of the curved bending structure is small; the second form of the preset crease component is a folded state, so that the overall structural stiffness of the curved bending structure is large.

[0010] In some embodiments, the drive mechanism includes a driver and two transmission components, the driver driving the transmission components to move away from or towards each other to cause deformation of the main body.

[0011] In some embodiments, the driver is a micro stepper motor, and the transmission assembly includes a transmission gear and a crank-rocker mechanism. The output shaft of the micro stepper motor is poweredly connected to the transmission gear to drive the crank-rocker mechanism to move away from or towards each other.

[0012] In some embodiments, the crank-rocker mechanism includes a crank and a rocker arm, the drive mechanism further includes a housing, the micro stepper motor is fixed to the housing, the housing is provided with a guide groove extending along a first direction, and the rocker arm is provided with a guide rod that guides and engages with the guide groove.

[0013] In some embodiments, a control module is also included, which is electrically connected to the micro stepper motor. The control module is configured to control the speed, step angle and holding torque of the micro stepper motor according to the target type or preset instructions, so that the gripper switches between a low-stiffness precision gripping mode and a high-stiffness fast gripping mode.

[0014] In some embodiments, an anti-slip pad is disposed on the clamping part, the anti-slip pad is disposed on the clamping contact surface of the clamping part, and the anti-slip pad is made of silicone, rubber or medical elastic material.

[0015] In some embodiments, the preset crease component is formed on the clamping body by one or more of the following methods: cutting and thinning, indentation, local heat treatment, embedding a flexible layer, local reinforcing layer, or multi-material composite.

[0016] In some embodiments, a robotic arm interface is also included, which is disposed in the housing of the drive mechanism and is used for detachable or fixed connection with an external robotic arm, handheld device or operating platform.

[0017] The method for preparing a variable stiffness curved surface origami micro gripper according to a second aspect of the present invention includes the following steps: S1: Draw a planar unfolded view of the clamping body and the preset crease component on the thin sheet material; S2: Thin sheet material is cut and creased using cutting equipment to obtain a planar preform; S3: The planar preform is formed into a curved bending structure with a predetermined curvature by thermoplastic, molding or clamping methods; S4: Install or integrally form the preset crease component at a predetermined position on the clamping body, and install an anti-slip pad at the clamping end; S5: Fix the prepared curved bending structure to the drive mechanism to complete the assembly.

[0018] According to the preparation method of the present invention, the preparation process is simple, easy to scale up, and the precision of each process is controllable.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a miniature gripper according to an embodiment of the present invention; Figure 2 yes Figure 1 The diagram shown illustrates the curved surface bending structure in its first configuration. Figure 3 yes Figure 1 The diagram shown illustrates the curved surface bending structure in its second form. Figure 4 yes Figure 1 The internal view of the type of clamp shown; Figure 5 yes Figure 1 The external view of the type of clamp shown; Figure 6 yes Figure 1 A schematic diagram of the drive mechanism shown.

[0022] Figure label: Miniature gripper 100; First direction F1; Curved bending structure 10; clamping body 11; main body 111; clamping part 112; Preset crease component 12; Drive mechanism 20; driver 21; miniature stepper motor 21a; transmission assembly 22; Crank-rocker mechanism 221; crank 221a; rocker 221b; guide rod 221c; transmission gear 222; 24 outer casing; 241 guide groove; Control module 30; anti-slip mat 40; robotic arm interface 50. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0025] Hereinafter, with reference to the accompanying drawings, a variable stiffness curved surface origami micro gripper 100 according to a first aspect of the present invention will be described.

[0026] refer to Figures 1-3 The miniature gripper 100 includes a curved bending structure 10 and a drive mechanism 20. The curved bending structure 10 includes a gripping body 11 and a preset crease component 12. The gripping body 11 includes a main body 111 and a plurality of gripping parts 112 disposed on the main body 111 that can move relative to each other to grip an item. The preset crease component 12 is disposed on the gripping body 11 and configured to switch between a first form and a second form to adjust the overall rigidity of the curved bending structure 10. The drive mechanism 20 is connected to the main body 111 to drive the main body 111 to deform, thereby causing the gripping parts 112 to move closer or further apart.

[0027] The curved bending structure 10 refers to a bending structure that forms a three-dimensional curved surface after crease design. For example, the curved bending structure 10 can be an origami structure, or any material capable of deformation to achieve movement. For instance, the curved bending structure 10 can also be PET (polyethylene terephthalate), PP (polypropylene), PC (polycarbonate), PI (polyimide), PEEK (polyether ether ketone), medical polymer composite materials, or other biocompatible sheet materials. The curved surface of the curved bending structure 10 endows the bending structure with enveloping properties and multi-directional mechanical response capabilities, thereby achieving movement in a specific direction or along a specific path through deformation.

[0028] The clamping body 11 is the main part 111 that performs the clamping function in the origami structure, and it serves as the carrier for the clamping part 112 and the preset crease part 12. The clamping body 11 includes the main part 111 and the clamping part 112. The main part 111 and the clamping part 112 can be integrally formed from the same material, or they can be materials with different deformation capabilities and different stiffnesses. For example, since the main part 111 is the basic area in the clamping body 11 that connects to the drive mechanism 20 and transmits the driving force, the stiffness of the material of the main part 111 is greater than that of the clamping part 112. Of course, the stiffness of the clamping part 112 can also be greater than that of the main part 111, so that the clamping part 112 is less likely to deform and cause the target to slip and fall when clamping the target. The clamping body 11 includes multiple clamping parts 112. For example, the clamping parts 112 are symmetrically distributed or evenly distributed in a ring. The number of clamping parts 112 can be 2 (finger clamping), 3 (self-centering), 4 or more (multi-finger envelopment).

[0029] The preset crease component 12 is a component that includes a pre-designed crease area that can switch between at least two states (e.g., a naturally flattened state and a folded state). The crease area can be formed in various ways; for example, it can be formed by cutting and thinning, indentation, local heat treatment, embedding a flexible layer, a local reinforcing layer, or a multi-material composite method. Switching the state of the preset crease component 12 can change the stiffness of the entire curved bending structure 10. This is because folding and flattening the crease alters the local structure, thereby changing the bending stiffness and torsional stiffness of the entire curved bending structure 10, and consequently affecting the sensitivity of the clamping part 112 in response to actuation and the stability of the clamping force output. Thus, the micro-gripper 100 can switch between low-stiffness compliant clamping and high-stiffness powerful clamping to improve the shortcomings of existing grippers in terms of adaptability to narrow spaces, clamping safety, and force transmission efficiency.

[0030] The drive mechanism 20 is a power source that drives the main body 111 to deform so as to move the clamping parts 112 closer or further apart. The form of the drive mechanism 20 is not limited. For example, the drive mechanism 20 can be a lead screw slider, gear rack, cam push rod, flexible push rod, electromagnetic linear drive or shape memory alloy auxiliary drive, as long as it can provide controllable displacement to the curved bending structure 10 so that the curved bending structure 10 deforms so as to move the clamping parts 112 closer (clamping) or further apart (releasing).

[0031] In the above technical solution, the preset crease component 12 can switch between the first and second forms to adjust the overall stiffness, so that the micro gripper 100 can switch between low-stiffness compliant gripping and high-stiffness powerful gripping, which can improve the adaptability and gripping safety of the micro gripper 100 in narrow spaces; the curved bending structure 10 has no complex mechanical structure, is easy to assemble, and can improve the efficiency of gripping force transmission; the force transmission of the curved bending structure 10 is real-time, and compared with the traditional rope drive that only transmits unidirectional tension, the curved bending structure 10 can also transmit bidirectional push and pull forces, thereby significantly improving the response speed and control accuracy; the curved bending structure 10 can be folded and stored, with a compact structure and high storage ratio, and is especially suitable for endoscopic surgery, micro-assembly and space-constrained scenarios.

[0032] refer to Figure 2 and Figure 3 In some embodiments, the first form of the preset crease component 12 is a naturally flattened state or an unfolded state, so that the overall structural stiffness of the curved bending structure 10 is relatively small; the second form of the preset crease component 12 is a folded state, so that the overall structural stiffness of the curved bending structure 10 is relatively large. Of course, it is not limited to this. The preset crease component 12 can also be in an intermediate state between the unfolded state and the folded state, that is, folded at a certain angle. By adjusting the angle, the stiffness gradient can be continuously adjusted to achieve a precise match between clamping force and compliance.

[0033] Existing technologies achieve stiffness switching by replacing parts or adding locking mechanisms, while this solution achieves it only by reconstructing the crease shape, without increasing the number of parts, significantly reducing assembly complexity and failure rate; rigid clamps have fixed stiffness and cannot reduce stiffness when facing fragile tissues; while this solution can switch on demand, making it safer.

[0034] refer to Figure 4 In some embodiments, the drive mechanism 20 includes a driver 21 and two transmission components 22. The driver 21 drives the transmission components 22 to move away from or towards each other, causing the main body 111 to deform. The form of the driver 21 and the transmission components 22 is not limited. For example, the driver 21 may be a micro stepper motor 21a, a piezoelectric ceramic, or a pneumatic / hydraulic micro cylinder, and the transmission components 22 may be a push-pull rod, a slider guide structure, a linkage structure, etc. The drive mechanism 20 includes two transmission components 22, symmetrically arranged on both sides of the main body 111. The two transmission components 22 moving away from or towards each other ensure a more balanced force during the deformation process of the main body 111, thereby driving the clamping part 112 to synchronously and stably complete the clamping or releasing action, improving the repeatability accuracy of the clamping action and the long-term reliability of operation.

[0035] refer to Figure 4 and Figure 5In some embodiments, the driver 21 is a micro stepper motor 21a, and the transmission assembly 22 includes a transmission gear 222 and a crank-rocker mechanism 221. The output shaft of the micro stepper motor 21a is poweredly connected to the transmission gear 222 to drive the crank-rocker mechanism 221 to move away from or towards each other. The power connection between the output shaft of the micro stepper motor 21a and the transmission gear 222 can be achieved by precise meshing of the transmission gear 222, with the output shaft of the micro stepper motor 21a connected to only one transmission gear 222, or by using two micro stepper motors 21a, each driving one of the transmission gears 222, with electronic control ensuring synchronicity between the two sides.

[0036] In the above technical solution, the driver 21 is a micro stepper motor 21a. The micro stepper motor 21a can accurately control the rotation angle in an open loop and can be positioned without an encoder. The clamping opening and closing amount can be accurately controlled by controlling the number of motor steps, thereby simplifying the control system. In addition, the stepper motor can maintain torque, and the output shaft will not rotate spontaneously after stopping, thereby realizing clamping force self-locking, thus achieving stable clamping and avoiding clamping loosening due to external disturbances. The transmission component 22 includes a transmission gear 222 and a crank-rocker mechanism 221. Compared with the gear rack solution, the crank 221a and rocker 221b can optimize the matching relationship between output displacement and force by adjusting the rod length ratio, which has a higher degree of design freedom and can improve the force output efficiency and space compactness of the micro gripper 100. Moreover, the crank-rocker mechanism 221 has small kinematic pair clearance and low backlash, which is conducive to improving the repeatability and long-term stability of the clamping action.

[0037] refer to Figures 4-6 In some embodiments, the crank-rocker mechanism 221 includes a crank 221a and a rocker arm 221b. The drive mechanism 20 also includes a housing 24. A micro stepper motor 21a is fixed to the housing 24. The housing 24 is provided with a guide groove 241, which extends along a first direction F1. The rocker arm 221b is provided with a guide rod 221c, which guides and engages with the guide groove 241. Thus, the micro stepper motor 21a is fixed to the housing 24, and the transmission gear 222 drives the crank 221a to move. The crank 221a drives the rocker arm 221b to swing, causing the guide rod 221c to slide within the guide groove 241, constraining the swing of the rocker arm 221b to linear motion. This causes the main body 111 to deform, and the clamping parts 112 to move closer or further apart to achieve clamping and release. In this design, the first direction F1 is the main direction in which the main body 111 is stretched or compressed. The cross-sectional shape of the guide groove 241 is not limited. For example, the cross-section of the guide groove 241 can be rectangular, T-shaped, or dovetail-shaped, etc. Of course, this solution is not limited to this. Alternatively, the rocker arm 221b can be equipped with a guide slider, which slides in the corresponding guide rail of the outer shell 24. The micro stepper motor 21a is fixed to the outer shell 24, which can be fixed to the inner wall or the outer wall of the outer shell 24.

[0038] In the above technical solution, the movement trajectory of the rocker arm 221b is constrained by the cooperation of the guide groove 241 and the guide rod 221c, thereby constraining the arc swing of the rocker arm 221b into linear motion, which greatly improves the clamping accuracy. The cooperation of the guide groove 241 and the guide rod 221c also effectively suppresses lateral swaying, further improving the axial stiffness and motion consistency during the clamping process, and reducing energy loss and wear during the movement. The drive mechanism 20 also includes a housing 24, which can provide a mounting base for the micro stepper motor 21a, and at the same time facilitates the setting of the guide groove 241 and the guide rail structure, enhancing the overall mechanical rigidity and protection. Without the housing 24, the motor would need a separate bracket and the guide groove 241 would need a separate base, increasing the number of parts and complicating the assembly. That is, by setting the housing 24, not only is the number of parts and assembly steps significantly reduced, but the structural compactness and reliability are also improved.

[0039] refer to Figure 5 In some embodiments, a control module 30 is also included. The control module 30 is electrically connected to the micro stepper motor 21a. The control module 30 is configured to control the rotational speed, step angle, and holding torque of the micro stepper motor 21a according to the target type or preset instructions, so that the micro gripper switches between a low-stiffness precision gripping mode and a high-stiffness rapid gripping mode. The control module 30 is electrically connected to the micro stepper motor 21a, and the method of electrical connection is not limited, including wired (wire, ribbon cable) and wireless (Bluetooth, RF, infrared), etc. The control method can be wired control, Bluetooth control, foot pedal control, robotic arm control system, or integrated sensor feedback control.

[0040] The miniature stepper motor 21a can operate in different drive modes according to control commands, such as low-speed small displacement mode, high-speed large displacement mode, holding and clamping mode, and release mode. The control module 30 can determine the number of motor steps, speed, and holding torque according to the target type, preset crease state, or feedback signal, so that the gripper switches between a low-stiffness precision clamping mode and a high-stiffness fast clamping mode. In the low-stiffness precision clamping mode, the preset crease component 12 remains in a natural state, and the drive mechanism 20 drives the clamping part 112 to close with a small step or low speed to obtain higher compliance and lower contact damage. In the high-stiffness fast clamping mode, the preset crease component 12 is in a folded state, and the drive mechanism 20 drives the clamping part 112 to close with a larger driving force or faster speed to improve clamping force, anti-disturbance ability, and gripping stability.

[0041] In the above technical solution, the control module 30 can control the rotational speed (response speed), step angle (positioning accuracy), and holding torque (clamping force). Compared to rope-driven systems, which can only control the tension, this solution achieves multi-dimensional parameter coordinated control, significantly improving the dynamic adaptability and task matching of the clamping process. For example, when clamping fragile tissues, the rotational speed and step angle can be reduced to achieve millimeter-level micro-motion, while the holding torque can be reduced to prevent crushing. When clamping dense organs, the rotational speed and step angle can be increased to accelerate the response, and the holding torque can be increased to ensure a stable grip. In addition, the control module 30 can be connected to a real-time force feedback sensor to achieve closed-loop control, thereby reducing reliance on doctors' experience to judge the clamping force and reducing the risk of human error.

[0042] refer to Figure 5 In some embodiments, an anti-slip pad 40 is disposed on the clamping part 112, and the anti-slip pad 40 is disposed on the clamping contact surface of the clamping part 112. The anti-slip pad 40 is made of silicone, rubber, or medical elastic material. The method by which the anti-slip pad 40 is disposed on the clamping contact surface of the clamping part 112 is not limited, for example, it can be pasted, embedded, sewn, etc. The surface of the anti-slip pad 40 may have a micro-texture or corrugated structure to enhance the friction with the tissue surface.

[0043] In the above technical solution, the clamping part 112 is provided with an anti-slip pad 40, which can increase the clamping friction and prevent the target object from slipping. Especially on the wet and smooth biological tissue surface, the anti-slip pad 40 is made of silicone, rubber or medical elastic material. The material is relatively soft, and the soft pad layer can cushion and protect the fragile tissue.

[0044] In some embodiments, the crease region of the preset crease component 12 is formed on the clamping body 11 by one or more methods such as cutting and thinning, indentation, local heat treatment, embedding a flexible layer, local reinforcing layer, or multi-material composite. Thus, the crease region of the preset crease component 12 can bend along a predetermined path when subjected to force, thereby changing the overall stiffness of the micro-gripper 100 and achieving adaptive switching between low-stiffness and high-stiffness modes.

[0045] refer to Figure 4 In some embodiments, a robotic arm interface 50 is also included. The robotic arm interface 50 is disposed on the housing 24 of the drive mechanism 20 and is used for detachable or fixed connection with an external robotic arm, handheld device, or operating platform. The location of the robotic arm interface 50 is not limited. For example, the robotic arm interface 50 can be located at the far end of the housing 24 (the end away from the clamping part 112) for easy direct insertion of the robotic arm; or on the side of the housing 24 for easy lateral connection of the handheld device. The number of robotic arm interfaces 50 is not limited. For example, multiple interfaces can be provided to adapt to various external robotic arms, handheld devices, or operating platforms.

[0046] In the above technical solution, the micro gripper 100 includes a robotic arm interface 50, which enables the micro gripper 100 to be integrated into various surgical robot systems or minimally invasive operating platforms.

[0047] The method for preparing the variable stiffness curved surface origami micro gripper 100 according to the second aspect of the present invention includes the following steps: S1: Draw a planar unfolded view of the clamping body 11 and the preset crease component 12 on the thin sheet material; S2: Thin sheet material is cut and creased using cutting equipment to obtain a planar preform; S3: The planar preform is formed into a curved bending structure with a predetermined curvature by thermoplastic, molding or clamping methods; S4: Install or integrally form the pre-crease component 12 into the predetermined position of the clamping body 11, and install the anti-slip pad 40 at the clamping end; S5: Fix the prepared curved bending structure 10 to the drive mechanism 20 to complete the assembly.

[0048] According to the preparation method of the present invention, the preparation process is simple, easy to scale up, and the precision of each process is controllable.

[0049] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0053] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0054] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A variable stiffness curved surface origami miniature gripper (100), characterized in that, include: The curved bending structure (10) includes a clamping body (11) and a preset crease component (12). The clamping body (11) includes a main body (111) and a plurality of clamping parts (112) disposed on the main body (111) that can move relative to each other to clamp an article. The preset crease component (12) is disposed on the clamping body (11) and configured to be able to switch between a first form and a second form to adjust the overall rigidity of the curved bending structure (10). A drive mechanism (20) is connected to the main body (111) to drive the main body (111) to deform, thereby causing the clamping parts (112) to move closer or further apart.

2. The variable stiffness curved surface origami micro gripper (100) according to claim 1, characterized in that, The first form of the preset crease component (12) is a naturally flattened state or an unfolded state, so that the overall structural stiffness of the curved bending structure (10) is small; the second form of the preset crease component (12) is a folded state, so that the overall structural stiffness of the curved bending structure (10) is large.

3. The variable stiffness curved surface origami micro gripper (100) according to claim 1, characterized in that, The drive mechanism (20) includes a driver (21) and two transmission components (22), the driver (21) driving the transmission components (22) to move away from or closer to each other, so as to deform the main body (111).

4. The variable stiffness curved surface origami micro gripper (100) according to claim 3, characterized in that, The driver (21) is a micro stepper motor (21a), and the transmission assembly (22) includes a transmission gear (222) and a crank-rocker mechanism (221). The output shaft of the micro stepper motor (21a) is poweredly connected to the transmission gear (222) to drive the crank-rocker mechanism (221) to move away from or closer to each other.

5. The variable stiffness curved surface origami micro gripper (100) according to claim 4, characterized in that, The crank-rocker mechanism (221) includes a crank (221a) and a rocker arm (221b). The drive mechanism (20) also includes a housing (24). The micro stepper motor (21a) is fixed to the housing (24). The housing (24) is provided with a guide groove (241). The guide groove (241) extends along a first direction (F1). The rocker arm (221b) is provided with a guide rod (221c) and is guided and engaged with the guide groove (241).

6. The variable stiffness curved surface origami micro gripper (100) according to any one of claims 4 or 5, characterized in that, It also includes a control module (30), which is electrically connected to the micro stepper motor (21a). The control module (30) is configured to control the speed, step angle and holding torque of the micro stepper motor (21a) according to the target type or preset instructions, so that the gripper switches between a low-rigidity precision gripping mode and a high-rigidity fast gripping mode.

7. The variable stiffness curved surface origami micro gripper (100) according to claim 1, characterized in that, An anti-slip pad (40) is provided on the clamping part (112) and is disposed on the clamping contact surface of the clamping part (112). The anti-slip pad (40) is made of silicone, rubber or medical elastic material.

8. The variable stiffness curved surface origami micro gripper (100) according to claim 1, characterized in that, In some embodiments, the preset crease component (12) is formed on the clamping body (11) by one or more of the following methods: cutting and thinning, indentation, local heat treatment, embedding a flexible layer, local reinforcing layer or multi-material composite.

9. The variable stiffness curved surface origami micro gripper (100) according to claim 1, characterized in that, It also includes a robotic arm interface (50), which is disposed in the housing (24) of the drive mechanism (20) and is used for detachable or fixed connection with an external robotic arm, handheld device or operating platform.

10. A method for preparing a variable stiffness curved surface origami micro gripper (100) as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1: Draw a planar unfolded view of the clamping body (11) and the preset crease component (12) on a thin sheet material; S2: Thin sheet material is cut and creased using cutting equipment to obtain a planar preform; S3: The planar preform is formed into a curved bending structure with a predetermined curvature by thermoplastic, molding or clamping method (10). S4: Install or integrally form the preset crease component (12) on the predetermined position of the clamping body (11), and install an anti-slip pad (40) at the clamping end. S5: Fix the prepared curved bending structure (10) to the drive mechanism (20) to complete the assembly.

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