Enveloping-shaped deep-sea soft fingers and deep-sea soft gripper

Abstract

The invention relates to soft fingers of a soft robot, and in particular, relates to envelope-shaped deep-sea soft fingers and a deep-sea soft gripper. Each soft finger is provided with a finger tip, enveloping structure plates, small pressure bags, large pressure bags, a sealing clamping piece, a pressure pipeline and other structures; two pressure channels are formed in each soft finger, when the pressure channels are filled with liquid, the filled liquid is guided into the small pressure bags and the large pressure bags through the pressure channels, and the pressure bags are filled with the liquid to expand so that the finger can be bent. The three-finger deep sea soft gripper can be obtained by assembling the fingers, the clamping pieces, the right-angle pagoda connectors and the three-finger palm. The large pressure bags and the small pressure bags can enable different positions of the soft fingers to reach appropriate bending angles during pressurization, the enveloping structure plates are matched with one another to firmly wrap a grabbed object, and the pressure pipelines are matched with a right-angle pagoda connector to achieve underwater sealing.

Description

technical field [0001] The invention relates to a soft finger of a soft robot, in particular to an enveloping deep-sea soft finger and a deep-sea soft gripper. Background technique [0002] As an organ of the human body, the hand plays an irreplaceable and important role in grasping objects and fine manipulation. In the history of robot development, rigid manipulators emerge in endlessly; but rigid manipulators have disadvantages such as high rigidity and poor adaptability. The traditional soft hand has poor envelopment, and the object is easy to escape when grasping the object. Moreover, most of the existing soft hands are suitable for land or shallow waters. At present, the rigid manipulator is too dependent on the deep sea field, but the rigid structure can easily damage the fragile objects and biological structures in the deep sea. [0003] The ocean is the largest and least explored environment on Earth, and research on the diversity, distribution characteristics, and...

AI Technical Summary

Problems solved by technology

However, most of the existing soft hands do not have a good envelope structure, and the success rate of grasping is low, especially for deep-sea marine organisms. The fishing efficiency is low, and the organisms are easy to escape.

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