Finger-wrist integrated soft gripper

Abstract

The invention provides a finger-wrist integrated soft gripper. The finger-wrist integrated soft gripper comprises a left pneumatic soft finger, a right pneumatic soft finger, a left adjustable supporting arm, a right adjustable supporting arm, a main arm, a pneumatic soft wrist and an installing panel; the left pneumatic soft finger and the right pneumatic soft finger each adopt a double-layer airbag plate structure, and two-way bending deformation is achieved when different air bags are inflated; the pneumatic soft wrists each adopt an air bag array cylindrical structure, biaxial two-way bending deformation is achieved when different air bags are inflated, and therefore the attitude angles of the left pneumatic soft finger and the right pneumatic soft finger are changed; the left adjustable supporting arm and the right adjustable supporting arm clamp the left pneumatic soft finger and the right pneumatic soft finger respectively and are connected with the main arm through hinges, andthe left adjustable supporting arm and the right adjustable supporting arm mesh with each other through a gear to adjust the field angles of the left adjustable supporting arm and the right adjustable supporting arm and keep the symmetry; the upper surfaces of the pneumatic soft wrists are connected with the installing panel, and the lower surfaces of the pneumatic soft wrists are connected withthe main arm; and the installing panel is installed on an operation machine to be used as an end executor. The finger-wrist integrated soft gripper can be suitable for food classification and encasement operation on a production line, fruit picking in agriculture and disabled patient nursing in medical treatment.

Description

technical field [0001] The invention relates to an end effector in the technical field of soft robots, in particular to a finger-wrist-integrated soft gripper. Background technique [0002] In recent years, soft robots have gradually become a hot research object in the field of robotics. Compared with traditional rigid robots, soft robots have good flexibility and can realize self-adaptation to the environment and operating objects without complicated control algorithms. It can avoid human injury caused by collision and damage to objects and robots, and has great application prospects in food production, medical treatment, agriculture and other fields. [0003] Soft grippers are mainly used to grab some soft or fragile items, such as bread, meat, fruit, eggs, glasses, paper, etc., which can automatically adapt to the shape, size and posture of the grasped objects, and are safe to operate. It has good application prospects in food production, agricultural picking, and medica...

AI Technical Summary

Problems solved by technology

However, due to the material and structure of these soft grippers, there are problems such as the inability to adjust the posture and opening angle of the gripper, the adaptability to the grasped object is not good enough, and the grasping is unstable.

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