Soft robot for growing and grasping objects in confined spaces based on nested structures

Abstract

The application belongs to the technical field of soft robots, and discloses a soft robot for growing to grab objects in a limited space based on a nested structure. The soft robot comprises a first cylinder film, a second cylinder film, an inflation mechanism, a feeding mechanism and a recycling mechanism. The first cylinder film and the second cylinder film are hollow cylinders. The second cylinder film is arranged in the hollow cavity of the first cylinder film and attached to the inner wall of the first cylinder film. The hollow cavity of the second cylinder film is used for covering and taking back the objects to be grabbed. The first cylinder film and the second cylinder film have the same structure. The cylinder walls of the two comprise an inner film and an outer film. A sealed cavity is formed between the inner film and the outer film for inflation. The outer film of the first cylinder film and one end of the inner film of the second cylinder film are fixed. The inner film of the first cylinder film and the outer film of the second cylinder film are connected to the feeding mechanism. The application solves the problem of grabbing objects in a limited space.

Description

A soft robot that grasps objects within a confined space based on a nested structure. Technical Field

[0001] This invention belongs to the field of soft robot technology, and more specifically, relates to a soft robot that grows and grasps objects in a confined space based on a nested structure. Background Technology

[0002] Growth robots, due to their excellent maneuverability, hold great promise for exploration in confined environments. However, existing growth robots have limited functionality in restricted spaces; most can only navigate and reach, while a few achieve functions such as endoscopy by integrating functional actuators (rigid) at the end effector, but this limits their maneuverability. Therefore, there is a need to design novel growth robots that balance growth maneuverability with operational capabilities, enabling operation in hard-to-reach spaces. This invention can perform encapsulation and grasping operations within complex pipes, utilizes readily available raw materials, and shows promising application potential.

[0003] Patent CN112060111A discloses an adaptive winding high-load-bearing soft gripping device, specifically a soft gripping device. However, it only realizes the object grasping process and cannot realize the grasping and retrieving of objects in confined spaces. Confined spaces can be narrow pipes, small spaces with varying shapes, etc. Patent CN113967922A discloses a fully flexible actuated soft bionic manipulator, specifically a gas-driven soft manipulator unit. However, it can only use the extension and bending movements of this unit to realize various grasping processes, and similarly lacks the ability to enter confined spaces and retrieve objects. Therefore, this invention proposes a soft robot capable of growing and grasping objects in confined spaces, realizing the grasping of objects in confined spaces. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a soft robot that grows and grasps objects in a confined space based on a nested structure, thereby solving the problem of grasping objects in a confined space.

[0005] To achieve the above objectives, according to the present invention, a soft robot for grasping objects in a confined space based on a nested structure is provided. The soft robot includes a first membrane, a second membrane, an inflation mechanism, a feeding mechanism, and a retrieval mechanism.

[0006] The first and second cylindrical membranes are hollow cylinders. The second cylindrical membrane is disposed inside the hollow cavity of the first cylindrical membrane and is attached to the inner wall of the first cylindrical membrane. The hollow cavity of the second cylindrical membrane is used to cover the object to be grasped and to retrieve the object. The first and second cylindrical membranes have the same structure. The cylinder walls of both include an inner thin film and an outer thin film. A sealed cavity is formed between the inner and outer thin films for inflation. One end of the outer thin film of the first cylindrical membrane and one end of the inner thin film of the second cylindrical membrane are fixed. The inner thin film of the first cylindrical membrane and the outer thin film of the second cylindrical membrane are simultaneously connected to the feeding mechanism.

[0007] The inflation mechanism inflates the first and second cylindrical membranes. Simultaneously, the inner films of the first and second cylindrical membranes grow forward under the drive of the feeding mechanism. As the inner film of the second cylindrical membrane folds inward and grows, it gradually covers the object to be grasped, thereby achieving the grasping process. After the object is grasped, the retrieval mechanism retracts the inner film of the second cylindrical membrane, which covers the object and moves backward together, thereby achieving the retrieval process.

[0008] More preferably, the feeding mechanism includes multiple feeding mechanisms, and the direction of forward growth of the first and second cylindrical films is adjusted by controlling the feeding force of different feeding mechanisms.

[0009] More preferably, there are three feeding mechanisms, which are evenly distributed along the circumference of the first and second cylindrical membranes.

[0010] More preferably, a gear speed limiting mechanism is provided between the inner film of the first cylindrical membrane and the feeding mechanism, and between the outer film of the second cylindrical membrane and the feeding mechanism. The inner film of the first cylindrical membrane and the outer film of the second cylindrical membrane are attached to each other and pass through the gears arranged opposite to each other in the gear speed limiting mechanism, thereby limiting the speed at which the feeding mechanism drives the inner film of the first cylindrical membrane and the outer film of the second cylindrical membrane to grow forward.

[0011] More preferably, the soft robot is further provided with a storage cylinder, which is used to store the inner film of the first cylinder membrane and the outer film of the second cylinder membrane.

[0012] More preferably, the storage cylinder is provided with a first separator cylinder and a second separator cylinder, an outer storage cylinder is formed between the outer shell of the storage cylinder and the first separator cylinder, and an inner storage cylinder is formed between the first separator cylinder and the second separator cylinder, which are respectively used to store the inner film of the first cylinder membrane and the outer film of the second cylinder membrane.

[0013] More preferably, the first separator cylinder is an upright cone shape, and the second separator cylinder is an inverted cone shape, so that both the outer and inner storage cylinders are wider at the top and narrower at the bottom, thereby reducing the contact between the inner film of the first cylinder and the outer film of the second cylinder and the storage cylinder wall as they grow forward, thus reducing friction.

[0014] More preferably, the second separator tube has a through hole, through which the inner membrane of the second tube membrane passes and connects to the recycling mechanism.

[0015] More preferably, the robot further includes a mounting plate, the storage cylinder is disposed above the mounting plate, the recycling mechanism is disposed above the storage cylinder; the first and second cylindrical membranes are disposed below the mounting plate, and the feeding mechanism is disposed on the lower surface of the mounting plate.

[0016] More preferably, the air pressure in the inflation chambers inside the first and second membranes is independently controlled.

[0017] In summary, the technical solutions conceived by this invention have the following beneficial effects compared with the prior art:

[0018] 1. The growth robot with a cylindrical membrane structure provided by this invention includes two modes: an outward folding growth mode and an inward folding growth mode. The former has a fixed outer membrane and a movable inner membrane, which is suitable for growth in confined spaces, but when covering an object, the membrane moves relative to the object's surface, making it prone to blockage. Similarly, the latter has a movable outer membrane and a fixed inner membrane, which is suitable for covering objects, but is severely hampered by environmental obstacles. The double-layer cylindrical membrane design can combine the advantages of both.

[0019] 2. The first membrane of the present invention is placed on the outside. Fixing the outer membrane is beneficial to the fact that the first membrane does not move relative to the environment during growth, thereby reducing growth resistance and allowing it to grow a longer distance. The second membrane is placed on the inside. Fixing the inner membrane is beneficial to the fact that the second membrane does not move relative to the surface of the object when covering it, thereby reducing covering resistance and making it easier to cover the object.

[0020] 3. In this invention, the first cylindrical membrane is placed on the outer side, and the inner membrane moves forward and is laid on the environmental surface at the end to become the outer membrane. This allows the length of the first cylindrical membrane to be increased without increasing resistance, thereby achieving the growth of the first cylindrical membrane. The second cylindrical membrane is placed on the inner side, and the outer membrane moves forward and is laid on the object surface at the end to become the inner membrane. This allows the length of the second cylindrical membrane to be increased without increasing resistance, thereby achieving the growth of the second cylindrical membrane, and further, the object is covered.

[0021] 4. The present invention uses a gear mechanism to simultaneously mesh the inner layer of the first cylindrical membrane and the outer layer of the second cylindrical membrane in the meshing area, which ensures the relative fixation of the two membrane layers, realizes stable control of the growth length, does not need to rely entirely on air pressure for growth, and improves the stability of growth.

[0022] 5. The present invention has multiple feeding mechanisms set on the circumference of the membrane cylinder. During synchronous feeding, the membrane cylinder can be fed uniformly to achieve uniform forward growth. By controlling the feeding length of each feeding mechanism, the membrane cylinder can be fed unevenly. Combined with air pressure control, the robot can be turned. Attached Figure Description

[0023] Figure 1 is a cross-sectional view of the soft growth robot constructed according to a preferred embodiment of the present invention;

[0024] Figure 2 is a schematic diagram of the overall structure of the soft growth robot constructed according to a preferred embodiment of the present invention;

[0025] Figure 3 is a schematic diagram of the structure of the storage cylinder constructed according to a preferred embodiment of the present invention, wherein (a) is a three-dimensional structural schematic diagram of the storage cylinder, and (b) is a cross-sectional structural schematic diagram of the storage cylinder;

[0026] Figure 4 is a schematic diagram of the recycling mechanism constructed according to a preferred embodiment of the present invention, wherein (a) is a top view of the recycling mechanism, (b) is a cross-sectional view of the recycling mechanism, and (c) is a three-dimensional schematic diagram of the recycling mechanism.

[0027] Figure 5 is a schematic diagram of the feeding mechanism constructed according to a preferred embodiment of the present invention, wherein (a) is a side view of the feeding mechanism; (b) is a three-dimensional structural schematic diagram of the feeding mechanism; and (c) is a top view of the feeding mechanism.

[0028] Figure 6 is a schematic diagram of the structure of the passive gear unit constructed according to a preferred embodiment of the present invention;

[0029] Figure 7 is a schematic diagram of the drive gear unit constructed according to a preferred embodiment of the present invention. In all the figures, the same reference numerals are used to denote the same elements or structures, wherein:

[0030] 1-First membrane cylinder, 2-Second membrane cylinder, 3-Feeding mechanism, 4-Recovery mechanism, 5-Mounting plate, 6-Storage cylinder, 7-Gear speed limiting mechanism, 8-Bottom shell, 9-Cover plate;

[0031] 11-Inner membrane of the first membrane, 12-Outer membrane of the first membrane, 21-Inner membrane of the second membrane, 22-Outer membrane of the second membrane;

[0032] 61-First partition cylinder, 62-Second partition cylinder, 71-Driven gear unit, 711-Driven gear, 712-Driven gear shaft, 713-Gear frame, 72-Driving gear unit, 721-Coupling, 722-Driving gear shaft, 723-Driving gear. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0034] A fluid-driven soft growth robot based on a nested structure for grasping is disclosed. This robot enables linear growth and navigating maneuvers, allowing it to pass through pipes. It can also encapsulate objects at the pipe's end, creating an encapsulating force for final grasping. During growth and encapsulation, there is no relative movement between the membrane, the pipe surface, or the object surface, ensuring the robot's stability.

[0035] Soft growth continuum robots are a new type of continuum robot. They are characterized by a flexible structure and a non-fixed length. They can increase the length of the robot by folding a stored material from the inside out to form a new air cavity.

[0036] As shown in Figures 1 and 2, a fluid-driven soft growth robot based on a nested structure for grasping is described. The robot structure includes the following parts: a first cylindrical membrane 1, a second cylindrical membrane 2, a feeding mechanism 3, a mounting plate 5, a storage cylinder 6, and a recycling mechanism 4. To ensure airtightness, a rubber pad is added between each assembly surface.

[0037] The first membrane 1 and the second membrane 2 are hollow cylinders. The second membrane 2 is placed inside the hollow cavity of the first membrane 1 and is attached to the inner wall of the first membrane 1. The hollow cavity of the second membrane 2 is used to cover the object to be grasped and to retrieve the object. The first membrane 1 and the second membrane 2 have the same structure. The cylinder walls of both include an inner membrane and an outer membrane. A sealed cavity is formed between the inner membrane and the outer membrane for inflation. One end of the outer membrane 12 of the first membrane and the inner membrane 21 of the second membrane 2 are fixed. The inner membrane 11 of the first membrane and the outer membrane 22 of the second membrane are connected to the feeding mechanism 3.

[0038] The inflation mechanism inflates the first membrane 1 and the second membrane 2. At the same time, the inner membrane 11 of the first membrane and the outer membrane 22 of the second membrane grow forward under the drive of the feeding mechanism 3. As the outer membrane 22 of the second membrane grows forward, the inner membrane 21 of the second membrane gradually covers the object to be grasped, thereby realizing the grasping process of the object to be grasped. After the object to be grasped is grasped, the retrieval mechanism 4 retracts the inner membrane of the second membrane 2. The inner membrane covers the object to be grasped and moves backward together, thereby realizing the retrieval process of the object to be grasped.

[0039] As shown in Figure 3, two cylindrical membranes are coaxially nested. The starting ends of the two cylindrical membranes are stacked and stored in the storage cylinder 6. The ends of the first cylindrical membrane 1 and the second cylindrical membrane 2 are attached to each other, pass through the gear speed limiting mechanism 7 together, and separate at the end of the robot. The end of the second cylindrical membrane 2 is folded inward at the end of the robot, passes through the through hole channel, and is finally fixed to the top motor shaft to form an inner air cavity. The end of the first cylindrical membrane 1 is folded outward at the end of the robot and is finally fixed to the bottom shell 8 to form an outer air cavity.

[0040] The inner storage cavity has an upward-facing opening. The second separator 62 is hollow in the middle and has an air inlet channel and a membrane channel. The first separator 61 is connected to the top of the storage cylinder 6. The inner storage cavity wall is inclined outward at an angle of 3°. The top of the storage cavity where it contacts the membrane is rounded. This makes it easier to pull the membrane out of the storage cylinder 6. It ensures that when the inner air cavity is filled with air, the friction between the second membrane 2 and the inner storage cavity is minimized, making it easy to pull the second membrane 2 out of the inner storage cavity.

[0041] The outer storage cavity has an upward-facing opening and is formed by the space between the outer shell of the storage cylinder 6 and the first partition cylinder 61. The inner shell of the outer storage cavity is fixed to the mounting plate 5 with bolts, and the first partition cylinder 61 is mounted on the mounting plate 5 with bolts and connected to the top of the cover plate with bolts. The wall of the outer storage cavity is inclined inward at an angle of 3° to ensure that the friction between the first cylinder membrane 1 and the inner shell of the outer storage cavity is minimized when the outer air cavity is filled with air, making it easy to pull the first cylinder membrane 1 out of the outer storage cavity.

[0042] As shown in Figure 4, the recycling mechanism 4 is installed on the cover plate 9 of the storage cylinder 7, and the second separator cylinder 62 is connected to the cover plate 9.

[0043] As shown in Figure 5, the feed mechanism 3 includes a drive gear unit 72 and a driven gear unit 71. As shown in Figure 7, the drive gear unit 72 includes a drive gear 723 and a drive gear shaft 722.

[0044] In one embodiment of the present invention, the drive gear 723 is mounted on the bottom housing 8 by bearings and connected to the feed mechanism 3 by coupling 721. The feed mechanisms 3 are arranged at 120° intervals and are fixed to the motor base by bolts. The motor base is fixed to the mounting plate 5 by bolts. The detailed structure of the active gear mechanism is as follows: the motor mounts of the three feed mechanisms 3 are mounted on the mounting plate 5, the stepper motors of the three feed mechanisms 3 are mounted on the motor mounts, and the motor housing is also mounted on the mounting plate 5. The housing has three protruding hollow cylinders that are coaxial with the motor shaft and whose end faces are flush with the three motor mounts. They are connected and fastened by threaded nuts. The hollow cylinders inside the motor housing are designed with steps to install airtight bearings and provide unidirectional axial positioning. There are three bearing seats on the opposite side, which also have unidirectional axial positioning. The bearings are installed in them. The motor shaft and the active gear shaft 722 are connected by a coupling and pass through the bearings and the airtight bearings to transmit speed and torque. The active gear 723 is fixed on the motor shaft and engages with the passive gear 711 to simultaneously mesh the outer film of the air chamber of the second cylinder membrane 2 and the outer inner film 11 of the first cylinder membrane in the meshing area. By rotating, the membrane is pulled out from the storage cylinder 6, and the air pressure expands the excess membrane at the other end to complete the growth.

[0045] In one embodiment of the present invention, as shown in FIG6, the passive gear unit 71 includes a passive gear 711, a passive gear shaft 712, and a gear carrier 713. The passive gears 711 are arranged at 120° intervals and are mounted on the gear carrier 713 by bearings. The gear carrier 713 is bolted to the bottom of the inner layer storage cavity. The portion of the inner layer film 11 of the first cylindrical membrane and the outer layer film 22 of the second cylindrical membrane that are in contact with each other passes through the meshing area of ​​the driving gear and the passive gear. The feeding mechanism 3 drives the driving gear to rotate to realize the feeding of the inner layer and the first cylindrical membrane 1.

[0046] The gear carrier 713 has three circumferentially distributed bearing housing pairs. The bearing housing pairs are designed with ribs to improve the overall meshing rigidity. The bearing pairs are axially positioned and six bearings are installed respectively. Three driven gear shafts 712 are inserted into the inner holes of the three sets of bearings, and three driven gears 711 are inserted at the same time. The end face of the driven gears 711 has a tapered boss design to provide axial positioning.

[0047] The air pressure in the first membrane 1 and the second membrane 2 is controlled by two independent air pressure valves. The gas enters the air chamber of the second membrane 2 through the air inlet of the air chamber. The air inlet of the second membrane 2 is located on the top cover of the storage cylinder 6. The gas enters the outer air chamber through the air inlet of the first membrane 1. The air inlet of the first membrane 1 is located on the bottom outer shell 8.

[0048] Under the action of air pressure, the inner membrane of the first membrane 1 at the end of the robot will continuously fold outward, realizing the growth of the air cavity of the first membrane 1. Under the action of air pressure, the second membrane 2 at the end of the robot will continuously fold inward, realizing the growth of the inner air cavity.

[0049] When the feeding mechanism 3 feeds the first membrane 1 and the second membrane 2 synchronously, the first membrane 1 and the second membrane 2 grow forward synchronously and achieve a passive conformal environment by relying on the softness of their own materials. When the feeding mechanism 3 feeds asynchronously, the first membrane 1 and the second membrane 2 will deflect, achieving active turning in space.

[0050] As the second membrane 2 folds inward at the robot's end, it can cover the surface of the target object, enabling the grasping of the object in a confined space. The second membrane 2 can be retrieved by retracting it into the membrane channel via a top motor, thus recovering both the grasped object and the second membrane 2.

[0051] The robot's workflow in this invention is as follows:

[0052] First and second cylindrical membranes of appropriate lengths are stacked and stored in inner and outer storage cavities, respectively. A single fold separates them into a lower feeding section and a storage section within the storage cavity. The second cylindrical membrane 2 folds inward, passing through the membrane channel in the hollow through-hole of the cover plate, and its end connects to the recovery mechanism 4. The first cylindrical membrane 1 folds outward and is fixed to the lower bottom outer shell 8 by an elastic ring. The inner and outer membranes 11 of the first and second cylindrical membranes pass through the gear meshing area in the feeding mechanism 3. The soft robot enters the confined space and introduces gas into the air cavity of the first cylindrical membrane 1 using a compressed air pump. The air pressure is controlled at approximately 5 kPa by a pressure valve, supporting the first and second cylindrical membranes 1 and 2. Through synchronous rotation of the motor, the membranes grow forward and drill into the confined area. Depending on the conditions within the area, they turn to reach their destination. Utilizing the air cavity growth and encapsulation characteristics of the second cylindrical membrane 2, it encapsulates and retrieves the target object within the area. The turning direction can be arbitrarily controlled within a conical surface, and the growth speed can be linearly controlled by the motor.

[0053] The growth rate of the soft growth robot is linearly related to the synchronous rotation speed of the three feeding mechanisms 3. The rotation angle control of the soft growth robot is related to the relative and absolute values ​​of the feed length of the gear speed limiting mechanism 7. The covering and grasping force is related to the air pressure, the surface roughness of the object, and the aspect ratio of the object.

[0054] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A soft robot that grows and grasps objects in a confined space based on a nested structure, characterized in that, The soft robot includes a first cylindrical membrane (1), a second cylindrical membrane (2), an inflation mechanism, a feeding mechanism (3), and a retrieval mechanism (4). The first cylindrical membrane (1) and the second cylindrical membrane (2) are hollow cylindrical structures. The second cylindrical membrane (2) is disposed within the hollow cavity of the first cylindrical membrane (1) and is attached to the inner wall of the first cylindrical membrane (1). The hollow cavity of the second cylindrical membrane (2) is used to enclose the object to be grasped and retrieve it. The first cylindrical membrane (1) and the second cylindrical membrane (2) have the same structure. Both have inner and outer thin films on their cylindrical walls, forming a sealed cavity for inflation. One end of the outer thin film (12) of the first cylindrical membrane and one end of the inner thin film of the second cylindrical membrane (2) are fixed. The inner film (11) of the first membrane and the outer film (22) of the second membrane are simultaneously connected to the feeding mechanism (3); the inflation mechanism inflates the first membrane (1) and the second membrane (2), and the inner film (11) of the first membrane and the outer film (21) of the second membrane grow forward under the drive of the feeding mechanism (3). When the outer film (21) of the second membrane folds inward to grow, the inner film (21) of the second membrane gradually covers the object to be grasped, thereby realizing the grasping process of the object to be grasped; after the object to be grasped is grasped, the retrieval mechanism (4) retracts the inner film of the second membrane (2), and the inner film covers the object to be grasped and retreats together, thereby realizing the retrieval process of the object to be grasped.

2. The soft robot for grasping objects in a confined space based on a nested structure as described in claim 1, characterized in that, The feeding mechanism (3) includes multiple feeding mechanisms (3), and the direction of forward growth of the first cylindrical membrane (1) and the second cylindrical membrane (2) is adjusted by controlling the feeding force of different feeding mechanisms (3).

3. A soft robot for grasping objects in a confined space based on a nested structure, as described in claim 1 or 2, characterized in that... There are three feeding mechanisms (3), which are evenly distributed along the circumference of the first cylindrical membrane (1) and the second cylindrical membrane (2).

4. A soft robot for grasping objects in a confined space based on a nested structure as described in claim 1, characterized in that, A gear speed limiting mechanism (7) is provided between the inner film (11) of the first cylindrical membrane and the feeding mechanism (3), and between the outer film (22) of the second cylindrical membrane and the feeding mechanism (3). The inner film (11) of the first cylindrical membrane and the outer film (22) of the second cylindrical membrane are attached together and pass through the gears arranged opposite to each other in the gear speed limiting mechanism, thereby limiting the speed at which the feeding mechanism (3) drives the inner film (11) of the first cylindrical membrane and the outer film (22) of the second cylindrical membrane to grow forward.

5. A soft robot for grasping objects in a confined space based on a nested structure as described in claim 1, characterized in that, The soft robot is also provided with a storage cylinder (6), which is used to store the inner film (11) of the first cylinder membrane and the outer film (22) of the second cylinder membrane.

6. A soft robot for grasping objects in a confined space based on a nested structure as described in claim 5, characterized in that, The storage cylinder (6) is provided with a first separator cylinder (61) and a second separator cylinder (62). An outer storage cylinder (6) is formed between the outer shell of the storage cylinder (6) and the first separator cylinder (61). An inner storage cylinder (6) is formed between the first separator cylinder (61) and the second separator cylinder (62), which are respectively used to store the inner film (11) of the first cylinder membrane and the outer film (22) of the second cylinder membrane.

7. A soft robot for grasping objects in a confined space based on a nested structure as described in claim 6, characterized in that, The first separator (61) is an upright cone and the second separator (62) is an inverted cone, so that the outer storage cylinder and the inner storage cylinder (6) are both wide at the top and narrow at the bottom, thereby reducing the contact between the inner film (11) of the first cylinder membrane and the outer film (22) of the second cylinder membrane and the wall of the storage cylinder (6) when they grow forward, thus reducing friction.

8. A soft robot for grasping objects in a confined space based on a nested structure, as described in claim 6 or 7, characterized in that... The second separator (62) has a through hole inside, and the inner membrane (21) of the second separator membrane passes through the through hole and is connected to the recycling mechanism (4).

9. A soft robot for grasping objects in a confined space based on a nested structure as described in claim 5, characterized in that, The robot also includes a mounting plate (5), the storage cylinder (6) is disposed above the mounting plate (5), the recycling mechanism (4) is disposed above the storage cylinder (6); the first cylinder membrane (1) and the second cylinder membrane (2) are disposed below the mounting plate (5), and the feeding mechanism (3) is disposed on the lower surface of the mounting plate (5).

10. A soft robot for grasping objects in a confined space based on a nested structure as described in claim 1, characterized in that, The air pressure in the inflation chambers of the first diaphragm (1) and the second diaphragm (2) is independently controlled.

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