Flexible optical waveguide soft hand for underwater application, mold and manufacturing method

Abstract

The invention relates to the technical field of soft manipulators, in particular to a flexible optical waveguide soft manipulator for underwater application, a die and a manufacturing method. The flexible optical waveguide soft hand comprises a soft actuator body, a connecting seat and a flexible optical waveguide sensor, a soft hand cabin is arranged in the soft actuator body, and the soft actuator body can be bent after the soft hand cabin is inflated or filled with liquid; two flexible optical waveguide sensors are arranged on the two sides of the soft actuator body respectively and used for sensing bending of the soft actuator body. The connecting base is arranged at the rear end of the soft actuator body and used for being connected with external equipment. The flexible optical waveguide soft hand can sense the bending of the fingers, and the efficiency of the soft hand for executing an operation task in an underwater complex environment is improved.

Description

Technical Field

[0001] The invention relates to the technical field of soft manipulators, and in particular to a flexible optical waveguide soft manipulator for underwater applications, a mold and a manufacturing method thereof. Background Art

[0002] In the underwater environment, underwater manipulators are typical operating tools for performing various tasks. After years of development, there have been many research results in underwater manipulator technology at home and abroad, which have played an important role in the development and exploration of underwater resources. At present, according to the needs of actual operating tasks, underwater manipulators have gradually developed from the initial single-degree-of-freedom rigid manipulators to flexible manipulators with high flexibility.

[0003] In the early days, single-degree-of-freedom manipulators were often used in underwater operations. Among them, Schilling Company has studied various forms of clamp-type manipulators. Although their appearance and structure are not exactly the same, they all have only one degree of freedom, open / close, and a single grasping form, and cannot achieve closed grasping, which is more suitable for grasping large hard objects such as stones. Therefore, the tasks that can be completed using this type of manipulator are relatively simple. In order to increase the degree of freedom of underwater manipulators, thereby improving the flexibility of fingers and realizing a variety of underwater operation tasks, a lot of research has been carried out in this regard at home and abroad.

[0004] In the process of performing underwater operation tasks, it is necessary for the manipulator to integrate multiple sensor units to realize its own posture perception and perception of the external environment, so as to improve the efficiency of underwater operations. However, due to the extremely complex underwater environment, both underwater rigid manipulators and soft manipulators face huge challenges in perception functions. Traditional underwater grasping tasks are to remotely control underwater manipulators through visual feedback information to complete the task. The control method of underwater manipulators is basically open-loop control, and there is almost no closed-loop feedback operation based on their own perception information. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to provide a flexible optical waveguide soft hand, a mold and a manufacturing method for underwater applications. The flexible optical waveguide soft hand can sense the bending of the fingers and improve the efficiency of the soft hand in performing work tasks in complex underwater environments.

[0006] In order to achieve the above object, the present invention adopts the following technical means:

[0007] On the one hand, the present invention provides a flexible optical waveguide soft hand for underwater applications, comprising a soft actuator body, a connecting seat and a flexible optical waveguide sensor, wherein a soft hand cabin is provided in the soft actuator body, and the soft actuator body can bend after the soft hand cabin is inflated with air or liquid; two flexible optical waveguide sensors are respectively provided on both sides of the soft actuator body, and the flexible optical waveguide sensors are used to sense the bending of the soft actuator body; the connecting seat is arranged at the rear end of the soft actuator body for connecting with external equipment.

[0008] The body of the soft actuator is a pressure bag made of silicone with a rectangular waveguide structure. After being filled with gas or liquid medium, the pressure bag expands and achieves bending.

[0009] The software actuator body includes a finger tip, a deformation section and a finger fixing section arranged in sequence from front to back, wherein the deformation section includes a holding cabin and a bending cabin, the holding cabin is close to the finger fixing section, and produces a small curvature while maintaining the driving force; the bending cabin is close to the finger tip, and the top of the bending cabin is a rectangular corrugated structure, which can provide a large curvature.

[0010] The flexible optical waveguide sensor comprises an optical waveguide soft shell and a light emitting device and a photosensitive device arranged at both ends of the optical waveguide soft shell. An optical waveguide core is arranged in the optical waveguide soft shell. The light source emitted by the light emitting device is transmitted to the photosensitive device through the optical waveguide core.

[0011] The optical waveguide soft shell is made of opaque silicone material with low refractive index; the optical waveguide core is made of transparent polyurethane material with high refractive index and filled in the optical waveguide soft shell.

[0012] Another aspect of the present invention provides a mold for preparing the flexible optical waveguide soft hand for underwater application as described above, comprising a wax core mold and a soft actuator mold;

[0013] The wax core mold is used to make the wax core; the wax core is set in the soft actuator mold, and the soft actuator body is prepared by injecting silicone into the soft actuator mold.

[0014] The wax core mold includes a left baffle, a wax chamber, a front baffle, a right baffle and a top cover, wherein the left baffle, the wax chamber and the right baffle are placed in sequence from left to right and the front ends are connected by the front baffle, the tops of the left baffle, the wax chamber and the right baffle are sealed and connected by the top cover, the wax chamber is provided with a plurality of concave molds arranged in sequence at intervals along the length direction, the top cover is provided with a flat groove covering the plurality of concave molds on the wax chamber, and the rear end of the top cover is provided with a material injection groove, through which the flat groove of the top cover and the plurality of concave molds of the wax chamber are filled with molten wax, the wax is solidified, and a wax core with a plurality of convex structures arranged at intervals is obtained.

[0015] The soft actuator mold includes a bottom plate, an air cabin plate and an upper baffle plate. The bottom plate, the air cabin plate and the upper baffle plate are molded in sequence from bottom to top to form a mold cavity. A wax core is arranged in the mold cavity. An injection cavity is formed between the outer surface of the wax core and the inner wall of the mold cavity. Silicone is injected into the injection cavity. After curing, an injection body containing the wax core is formed. After the wax core is melted, a soft actuator body with a soft hand cabin is obtained.

[0016] Another aspect of the present invention provides a method for preparing a mold for preparing a flexible optical waveguide soft hand for underwater application using the above-mentioned method, comprising the following steps:

[0017] Step S1: making a wax core using a wax core mold;

[0018] Step S2: manufacturing a soft actuator body by using a soft actuator mold and a wax core;

[0019] Step S3: Assembling the flexible optical waveguide soft hand.

[0020] The process of making the wax core comprises the following steps:

[0021] Spray the release agent on the inner surface of the wax core mold and apply it evenly with a brush;

[0022] Assemble the wax core mold and insert two iron wires into the cavity of the wax core mold for fixing;

[0023] Pour the melted wax into the assembled wax core mold;

[0024] After cooling and solidifying at room temperature, take out the wax core with two iron wires;

[0025] The process of making the software actuator body includes the following steps:

[0026] Put the formed wax core into the soft actuator mold and support it with two iron wires to assemble the soft actuator mold;

[0027] Pour the A / B silicone solution mixed in a weight ratio of 1:1 into the syringe, inject it into the soft actuator mold under the action of external pressure, and finally seal the injection hole;

[0028] After the silicone is cured, the injection body containing the wax core is taken out from the soft actuator mold, and then put into the oven to melt the wax core, and finally the molded soft actuator body is obtained;

[0029] The process of assembling the flexible optical waveguide soft hand comprises the following steps:

[0030] Two flexible optical waveguide sensors are bonded to the two sides of the soft actuator body, the rear end of the soft actuator body is bonded to the connecting seat, and the connecting seat is connected to the pagoda joint.

[0031] The advantages and beneficial effects of the present invention are as follows: the present invention provides a flexible optical waveguide soft hand for underwater applications, in which the soft fingers are designed as bellows-type flexible structures, and the fingers are bent and deformed by pressurizing the internal channels of the fingers, so as to grasp underwater objects; the bending of the fingers is sensed by a flexible optical waveguide sensor, and the soft hand and the optical waveguide sensor are combined to improve the efficiency of the soft hand in performing work tasks in complex underwater environments, and the flexible optical wave sensor can be used to feedback the status of the soft hand itself and environmental information.

[0032] The flexible optical waveguide sensor of the present invention can detect small changes and subtle signals, and has strong resistance to electromagnetic interference and environmental noise. It has the characteristics of rapid response and can detect and respond to changes in real time. At the same time, the optical waveguide sensor can detect without contacting the target object.

[0033] The bending sensing of the soft actuator of the present invention has the characteristics of high linearity, sensitivity and low hysteresis, and embedding sensors on both sides of the soft actuator not only has little effect on its bending performance, but also can reduce the hysteresis during pressure relief. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is an axonometric diagram of a flexible optical waveguide soft hand for underwater application according to the present invention;

[0035] Figure 2 An exploded view of a flexible optical waveguide soft hand for underwater applications according to the present invention;

[0036] Figure 3 It is an axonometric view of the software actuator body in the present invention;

[0037] Figure 4 is a cross-sectional view of the software actuator body of the present invention;

[0038] Figure 5 is an axonometric diagram of the flexible optical waveguide sensor of the present invention;

[0039] Figure 6 It is a structural schematic diagram of the wax core mold in the present invention;

[0040] Figure 7 It is an axonometric view of the wax core in the present invention;

[0041] Figure 8 It is one of the isometric views of the soft actuator mold in the present invention;

[0042] Fig. 9 This is the second isometric view of the software actuator mold in the present invention;

[0043] Fig.10 This is a conversion circuit diagram in the present invention.

[0044] In the figure: 1-left baffle, 2-left wax cabin, 3-right wax cabin, 4-front baffle, 5-right baffle, 6-top cover, 7-wax mold, 8-left air cabin plate, 9-right air cabin plate, 10-left bottom plate, 11-right bottom plate, 12-upper baffle, 13-soft actuator body, 131-finger tip, 132-deformation section, 1321-holding cabin, 1322-bending cabin, 133-finger fixing section, 14-flexible optical waveguide sensor, 1401-optical waveguide soft shell, 1402-light emitting device, 1403-photosensitive device, 1404-optical waveguide core, 15-connecting seat, 16-pagoda connector. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] See also Figure 1 , Figure 2 As shown, an embodiment of the present invention provides a flexible optical waveguide soft hand for underwater applications, including a soft actuator body 13, a connecting seat 15 and a flexible optical waveguide sensor 14, wherein a soft hand cabin is provided in the soft actuator body 13, and the soft actuator body 13 can bend after the soft hand cabin is inflated with air or liquid; two flexible optical waveguide sensors 14 are respectively provided on both sides of the soft actuator body 13, and the flexible optical waveguide sensor 14 is used to sense the bending of the soft actuator body 13; the connecting seat 15 is arranged at the rear end of the soft actuator body 13 for connecting with external equipment.

[0047] See also Figure 3 , Figure 4 As shown, in the embodiment of the present invention, the soft actuator body 13 is a pressure bag made of silicone (hardness 30A) with a rectangular waveguide structure. After being filled with gas or liquid medium, the pressure bag expands to achieve finger bending. The hardness of the material of the soft actuator body 13 and the hardness of the sensor body material are very small, which can reduce the inconsistency of the deformation of the two.

[0048] Specifically, the body 13 of the soft actuator includes a finger tip 131, a deformation section 132, and a finger fixing section 133 arranged in sequence from front to back, wherein the deformation section 132 includes a holding chamber 1321 and a bending chamber 1322, and the holding chamber 1321 and the bending chamber 1322 form a composite cavity structure, wherein the holding chamber 1321 is close to the finger fixing section 133, and produces a small curvature while maintaining the driving force; the bending chamber 1322 is close to the finger tip 131, and the upper surface of the bending chamber 1322 is a rectangular corrugated structure, which can provide a large curvature and exert force on the object, so that the soft hand can maintain a suitable degree of curvature while generating sufficient grasping force. All cavities are connected, and the driving fluid flows into each cavity from the rear end channel through the sealing tube, so that the inside of the soft drive quickly reaches the same pressure, thereby improving the response speed of the soft drive.

[0049] See also Figure 5 As shown, in the embodiment of the present invention, the flexible optical waveguide sensor 14 includes an optical waveguide soft shell 1404 and a light emitting device 1402 and a photosensitive device 1403 arranged at both ends of the optical waveguide soft shell 1404. An optical waveguide core 1404 is arranged in the optical waveguide soft shell 1404, and the light source emitted by the light emitting device 1402 is transmitted to the photosensitive device 1403 through the optical waveguide core 1404.

[0050] Specifically, the optical waveguide soft shell 1404 is made of a low-refractive-index and opaque silicone material; the optical waveguide core 1404 is made of a high-refractive-index and transparent polyurethane material filled in the optical waveguide soft shell 1404 .

[0051] In order to allow the light to be totally reflected inside the optical waveguide, the optical waveguide soft shell 1404 is made of a low refractive index and opaque silicone material (Dragon Skin 20A / B, refractive index 1.41, Smooth-On Inc.), and the optical waveguide core 1404 is made of a high refractive index and transparent polyurethane material (Clear Flex 30A / B, refractive index 1.48, Smooth-On Inc.). The tensile properties of these two materials are similar, which can ensure the consistency of the sensor when it is deformed. In addition, in order to reduce the influence of visible light, an infrared light emitting diode with a wavelength of 940nm is selected as the light source, and a corresponding photosensitive diode is selected as the photoelectric detection device.

[0052] The entire manufacturing process of the flexible optical waveguide sensor 14 mainly includes two steps:

[0053] The first step is to make the optical waveguide soft shell 1401:

[0054] A small amount of black dye (Silc Pig, Smooth-On Inc.) was added to the Dragon Skin 20A / B solution (20A hardness silicone solution) in a 1:1 ratio, poured into the shell mold, and then taken out when it is cured.

[0055] The second step is to make the optical waveguide core 1404:

[0056] The Clear Flex 30 A / B solution is mixed in a volume ratio of 1:1 and poured into the optical waveguide soft shell 1401 with optoelectronic devices placed at both ends. After curing, the optoelectronic devices and the polyurethane material are bonded together to prevent the light emitting device 1402, the photosensitive device 1403 and the optical waveguide core 1404 from separating when the sensor is deformed. The final formed flexible optical waveguide sensor 14, see Figure 5 shown.

[0057] In the embodiment of the present invention, the overall length of the flexible optical waveguide sensor 14 is about 95 mm, the dimensions of the optical waveguide core 1404 are: length×width×height are 80×1.5×1.5 mm, and the thickness of the optical waveguide soft shell 1401 is 1 mm.

[0058] See also Fig.10 As shown, in order to convert the light signal received by the photosensitive device 1403 into an analog electrical signal, a photoconductive mode conversion circuit with high sensitivity, fast response speed and low interference is used. The infrared light emitting diode is connected in series with a 68Ω resistor for current limiting, and the infrared receiving diode is connected to a 3.3V reverse bias voltage. At the same time, a 0.1-1МΩ resistor is connected in series according to the needs of the collector, so that the output voltage is within the analog input voltage range of the collector. In order to further eliminate external interference, a commercial photoelectric isolation voltage follower is added, and a 16-bit collector is used to collect the output voltage of the sensor, and the sampling frequency is 20Hz.

[0059] The present invention provides a flexible optical waveguide soft hand for underwater applications, in which the soft fingers are designed as bellows-type flexible structures, and the fingers are bent and deformed by pressurizing the internal channels of the fingers, so as to grasp underwater objects; the bending of the fingers is sensed by a flexible optical waveguide sensor, and the soft hand and the optical waveguide sensor are combined to improve the efficiency of the soft hand in performing work tasks in complex underwater environments, and the flexible optical wave sensor can be used to feedback the status of the soft hand itself and environmental information.

[0060] Another embodiment of the present invention provides a preparation mold for a flexible optical waveguide soft hand for underwater application as in the above embodiment, including a wax core mold and a soft actuator mold; the wax core mold is used to make a wax core 7, see Figure 7As shown; the wax core 7 is arranged in the soft actuator mold, and the soft actuator body 13 is prepared by injecting silicone into the soft actuator mold.

[0061] See also Figure 6 , Figure 7 As shown, in an embodiment of the present invention, the wax core mold includes a left baffle 1, a wax cabin, a front baffle 4, a right baffle 5 and a top cover 6, wherein the left baffle 1, the wax cabin and the right baffle 5 are placed in sequence from left to right and the front ends are connected by the front baffle 4, the tops of the left baffle 1, the wax cabin and the right baffle 5 are sealed and connected by the top cover 6, the wax cabin has a plurality of concave molds arranged in sequence along the length direction, the top cover 6 is provided with a planar groove covering the plurality of concave molds on the wax cabin, and the rear end of the top cover 6 is provided with a material injection groove, through which the planar groove of the top cover 6 and the plurality of concave molds of the wax cabin are filled with molten wax, the wax is solidified, and a wax core 7 with a plurality of convex structures arranged at intervals is obtained, and the formed wax core 7 is prepared for the subsequent soft hand cabin.

[0062] In this embodiment, the wax chamber is a split structure including a left wax chamber 2 and a right wax chamber 3 of the same structure, so as to facilitate mold separation.

[0063] See also Figure 8 , Fig. 9 As shown, in an embodiment of the present invention, the soft actuator mold includes a base plate, an air cabin plate and an upper baffle 12, and the base plate, the air cabin plate and the upper baffle 12 are molded in sequence from bottom to top to form a mold cavity, and the wax core 7 is arranged in the mold cavity, and an injection cavity is formed between the outer surface of the wax core 7 and the inner wall of the mold cavity, and silicone is injected into the injection cavity. After curing, an injection body containing the wax core 7 is formed, and after the wax core 7 is melted, a soft actuator body 13 with a soft hand cabin is obtained.

[0064] Specifically, the bottom plate is a split structure, including a left bottom plate 10 and a right bottom plate of a symmetrical structure; the air cabin plate is also a split structure, including a left air cabin plate 8 and a right air cabin plate 9 of a symmetrical structure, so as to facilitate mold separation.

[0065] Another embodiment of the present invention provides a method for preparing a mold for preparing a flexible optical waveguide soft hand for underwater applications using the above embodiment, comprising the following steps:

[0066] Step S1: making a wax core 7 using a wax core mold;

[0067] Step S2: manufacturing the soft actuator body 13 by using the soft actuator mold and the wax core 7;

[0068] Step S3: Assembling the flexible optical waveguide soft hand.

[0069] In an embodiment of the present invention, the process of making the wax core comprises the following steps:

[0070] Spray the release agent on the inner surface of the wax core mold and apply it evenly with a brush;

[0071] Assemble the wax core mold and insert two iron wires into the cavity of the wax core mold for fixing;

[0072] Pour the melted wax into the assembled wax core mold;

[0073] After cooling and solidifying at room temperature, take out the wax core 7 with two iron wires.

[0074] In an embodiment of the present invention, the process of manufacturing the software actuator body includes the following steps:

[0075] Put the formed wax core 7 into the inside of the soft actuator mold, and support it with two iron wires to assemble the soft actuator mold; the location of the wax core 7 is the location of the soft hand gas cabin;

[0076] Pour the Dragon Skin30 A / B silicone rubber (hardness 30A) solution mixed in a weight ratio of 1:1 into the syringe, inject it into the soft actuator mold under the action of external pressure, and finally seal the injection hole;

[0077] Put it into an oven at a temperature of 45°C to accelerate the curing speed of the silicone, and take out the injection body containing the wax core 7 from the mold after the silicone is cured;

[0078] Then put it into an oven at 90°C to melt the wax core 7, and finally obtain the formed soft actuator body 13, see Figure 3 shown.

[0079] In the embodiment of the present invention, the process of assembling the flexible optical waveguide soft hand includes the following steps: bonding two flexible optical waveguide sensors 14 to both sides of the soft actuator body 13, bonding the rear end of the soft actuator body 13 to the connection seat 15, and connecting the connection seat 15 to the pagoda connector 16. Specifically, a silicone adhesive Sil-Poxy (Smooth-On Inc.) is used for bonding.

[0080] In order to improve the molding rate of the soft actuator body 13, the lost wax method is used. In addition, the material used to make the soft actuator body is silicone (Dragon Skin 30 A / B, Smooth-On Inc.). The hardness of this material is very close to that of the sensor body material, which can reduce the inconsistency of the deformation of the two. In terms of optical waveguides, the present invention selects a rectangular waveguide structure. On the one hand, the rectangular waveguide structure is highly symmetrical and has good polarization characteristics; on the other hand, it is more convenient to design a mold for production, which is equivalent to a cylindrical waveguide.

[0081] The present invention integrates a flexible optical waveguide sensor 14 on the basis of a soft actuator body 13 with a bellows structure to realize the proprioceptive perception capability of the soft actuator. Two aspects are mainly considered: on the one hand, the influence of the embedding of the sensor on the dynamic performance (bending angle) of the soft actuator is minimized; on the other hand, the damage to the sensor is minimized while giving full play to the sensor's perception capability. Finally, after the soft actuator is driven by internal pressure, the two sensors are respectively embedded on both sides of the soft actuator. When the soft actuator body 13 is driven, the stress and strain at different positions are different. Taking into account the dynamic performance of the soft actuator body 13 and the bending response capability of the sensor, the present invention embeds a flexible optical waveguide sensor 14 on both sides of the soft actuator body 13 to realize the proprioceptive perception capability of the soft actuator. The structure of the soft actuator body 13 is improved according to the size of the flexible optical waveguide sensor 14, wherein the lead at one end of the flexible optical waveguide sensor 14 is led out from the bottom channel of the soft actuator body 13, and the designed routing channel is 1.6mm wide and 3.5mm deep.

[0082] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A flexible optical waveguide soft hand for underwater applications, characterized in that: The invention comprises a soft actuator body (13), a connection seat (15) and a flexible optical waveguide sensor (14), wherein a soft hand chamber is arranged inside the soft actuator body (13), and the soft actuator body (13) can bend after the soft hand chamber is inflated with air or liquid; two flexible optical waveguide sensors (14) are respectively arranged on both sides of the soft actuator body (13), and the flexible optical waveguide sensors (14) are used to sense the bending of the soft actuator body (13); and the connection seat (15) is arranged at the rear end of the soft actuator body (13) and is used to connect with external equipment.

2. The flexible optical waveguide soft hand for underwater applications according to claim 1, characterized in that: The soft actuator body (13) is a pressure bag made of silica gel and having a rectangular waveguide structure. After being filled with gas or liquid medium, the pressure bag expands and achieves bending.

3. The flexible optical waveguide soft hand for underwater applications according to claim 2, characterized in that: The soft actuator body (13) comprises a finger tip (131), a deformation section (132) and a finger fixing section (133) which are arranged in sequence from front to back, wherein the deformation section (132) comprises a holding chamber (1321) and a bending chamber (1322), wherein the holding chamber (1321) is close to the finger fixing section (133) and produces a small curvature while maintaining a driving force; and the bending chamber (1322) is close to the finger tip (131), and the upper surface of the bending chamber (1322) is a rectangular corrugated structure and can provide a large curvature.

4. The flexible optical waveguide soft hand for underwater applications according to claim 1, characterized in that: The flexible optical waveguide sensor (14) comprises an optical waveguide soft shell (1404) and a light emitting device (1402) and a photosensitive device (1403) arranged at two ends of the optical waveguide soft shell (1404). An optical waveguide core (1404) is arranged in the optical waveguide soft shell (1404). The light source emitted by the light emitting device (1402) is transmitted to the photosensitive device (1403) through the optical waveguide core (1404).

5. The flexible optical waveguide soft hand for underwater applications according to claim 4, characterized in that: The optical waveguide soft shell (1404) is made of a low-refractive-index and opaque silicone material; the optical waveguide core (1404) is made of a high-refractive-index and transparent polyurethane material filled in the optical waveguide soft shell (1404).

6. A mold for preparing a flexible optical waveguide soft hand for underwater application as claimed in any one of claims 1 to 5, characterized in that: Including wax core mold and soft actuator mold; The wax core mold is used to make a wax core (7); the wax core (7) is arranged in a soft actuator mold, and the soft actuator body (13) is prepared by injecting silicone into the soft actuator mold.

7. The mold for preparing the flexible optical waveguide soft hand for underwater application according to claim 6, characterized in that: The wax core mold comprises a left baffle (1), a wax chamber, a front baffle (4), a right baffle (5) and a top cover (6), wherein the left baffle (1), the wax chamber and the right baffle (5) are placed in sequence from left to right and the front ends are connected through the front baffle (4), the tops of the left baffle (1), the wax chamber and the right baffle (5) are sealed and connected through the top cover (6), the wax chamber has a plurality of concave molds arranged in sequence at intervals along the length direction, the top cover (6) is provided with a planar groove covering the plurality of concave molds on the wax chamber, and a material injection groove is provided at the rear end of the top cover (6), and molten wax is injected into the planar groove of the top cover (6) and the plurality of concave molds of the wax chamber through the material injection groove, and the wax is solidified to obtain a wax core (7) having a plurality of convex structures arranged at intervals.

8. The mold for preparing the flexible optical waveguide soft hand for underwater application according to claim 7, characterized in that: The soft actuator mold comprises a bottom plate, an air chamber plate and an upper baffle plate (12), wherein the bottom plate, the air chamber plate and the upper baffle plate (12) are molded in sequence from bottom to top to form a mold cavity, wherein a wax core (7) is arranged in the mold cavity, and an injection cavity is formed between the outer surface of the wax core (7) and the inner wall of the mold cavity, and silica gel is injected into the injection cavity, and after curing, an injection body containing the wax core (7) is formed, and after the wax core (7) is melted, a soft actuator body (13) having a soft hand chamber is obtained.

9. A method for preparing a mold for preparing a flexible optical waveguide soft hand for underwater application using the mold as claimed in claim 8, characterized in that: The following steps are involved: Step S1: making a wax core (7) using a wax core mold; Step S2: manufacturing a soft actuator body (13) by using a soft actuator mold and a wax core (7); Step S3: Assembling the flexible optical waveguide soft hand.

10. The method for manufacturing a flexible optical waveguide soft hand for underwater applications according to claim 9, characterized in that: The process of making the wax core comprises the following steps: Spray the release agent on the inner surface of the wax core mold and apply it evenly with a brush; Assemble the wax core mold and insert two iron wires into the cavity of the wax core mold for fixing; Pour the melted wax into the assembled wax core mold; After cooling and solidifying at room temperature, take out the wax core (7) with two iron wires; The process of making the software actuator body includes the following steps: The formed wax core (7) is placed inside the soft actuator mold and supported by two iron wires to assemble the soft actuator mold; Pour the A / B silicone solution mixed in a weight ratio of 1:1 into the syringe, inject it into the soft actuator mold under the action of external pressure, and finally seal the injection hole; After the silicone is solidified, the injection body containing the wax core (7) is taken out from the soft actuator mold, and then placed in an oven to melt the wax core (7), and finally a molded soft actuator body (13) is obtained; The process of assembling the flexible optical waveguide soft hand comprises the following steps: Two flexible optical waveguide sensors (14) are bonded to the two sides of the soft actuator body (13), the rear end of the soft actuator body (13) is bonded to a connecting seat (15), and the connecting seat (15) is connected to a pagoda connector (16).

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