Finger wrist integrated software gripper

Abstract

The invention provides a finger-wrist integrated software gripper, which includes left and right pneumatic soft fingers, left and right adjustable support arms, a main arm, pneumatic soft wrists and a mounting panel, wherein: the left and right pneumatic soft fingers adopt double layers The airbag plate-shaped structure can be inflated to different airbags to achieve bidirectional bending deformation; the pneumatic soft wrist adopts the airbag array cylindrical structure, which can be inflated to different airbags to realize biaxial bidirectional bending deformation, thereby changing the attitude angle of the left and right pneumatic soft fingers; The adjustable support arms hold the left and right pneumatic software fingers respectively and are connected to the main arm through hinges. The left and right adjustable support arms are meshed through gears to adjust the opening angle of the left and right adjustable support arms and maintain symmetry; the pneumatic software The upper part of the wrist is connected with the installation panel, and the lower part is connected with the main arm; the installation panel is installed on the operating machine and used as an end effector. The invention can be used for classification and boxing operations of food on the production line, fruit picking in agriculture, nursing care of disabled patients in medical treatment, and the like.

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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