Flexible grasping device

Abstract

The invention provides a flexible grasping device. The flexible grasping device comprises a base body, a plurality of arm parts and a plurality of independent gas pipes, wherein the arm parts are connected to the base body, a plurality of cavities which do not communicate with each other are formed in the arm parts in the extending direction of the arm parts, and the arm parts can be provided withdifferent bending directions and / or bending shapes in the extending direction of the arm parts by inflating and / or pumping air into the cavities; and the independent gas pipes are separately connected to the cavities. The flexible grasping device further comprises a flexible electronics device, and the flexible electronics device is arranged on bottom plate parts of the arm parts which are in contact with the object to be grasped when the arm parts grasp the object. The flexible grasping device can bend the arm parts to adapt to the shape of the object to be grasped by inflating and / or pumping air into the cavities of the arm parts, so that the grasping success rate is improved.

Description

technical field [0001] The invention relates to a gripping device, in particular to a flexible gripping device. Background technique [0002] Soft robot is a new branch in the field of robotics. Some characteristics of soft robot make it have natural advantages over traditional rigid robot. As a kind of soft robot, the soft manipulator is flexible and has irreplaceable advantages in grasping fragile and complex-shaped items in industries such as industry, food, and logistics sorting. The passive deformation ability of the soft manipulator can greatly improve the adaptability of grasping objects with different shapes. [0003] However, the soft manipulator of the related art lacks embedded sensors, and cannot judge the force, coating state and temperature of the object, nor can it optimize the grasping strategy. We can only determine the parameters in advance and grasp all objects, which will inevitably reduce the success rate of object grasping. [0004] In addition, some...

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Problems solved by technology

[0003] However, the soft manipulator of the related art lacks embedded sensors, and cannot judge the force, coating state and temperature of the object, nor can it optimize the grasping strategy.

We can only determine the parameters in advance and grasp all objects, which will inevitably reduce the success rate of object grasping

[0004] In addition, some sensors that can be applied to soft manipulators have appeared in recent years, but there are still some problems. For example, flexible sensors have certain flexibility but do not have ductility. Flexible sensors will constrain the movement of soft manipulators and the movement of soft manipulators will will destroy the flexible sensor

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