A soft finger with adjustable gripping force, a soft gripper and its preparation method

Abstract

This invention relates to the technical field of soft robots, and more specifically, to a soft finger with adjustable grasping force, a soft gripper, and a method for manufacturing the same. The soft finger includes a soft actuator and a fingertip. The soft actuator has a cavity, and the fingertip is fixedly mounted at one end of the soft actuator. The other end of the soft actuator has an air passage communicating with the cavity. The outer wall of the soft actuator has several protrusions, with grooves formed between adjacent protrusions. The inner wall of the soft actuator has a bendable and lockable first blocking structure, and the outer wall of the soft actuator has a retractable and lockable second blocking structure. The second blocking structure is wavy and can engage with the grooves on the outer wall of the soft actuator. The second blocking structure can cooperate with the first blocking structure to lock the soft actuator. This invention allows for pre-grasping by bending the soft finger, then fixing the fingertip position and adjusting the grasping force, making it suitable for non-damaging grasping of fragile items.

Description

Technical Field

[0001] This invention relates to the technical field of soft robots, and more specifically, to a soft finger with adjustable grasping force, a soft gripper, and a method for manufacturing the same. Background Technology

[0002] For irregularly shaped and fragile objects, traditional rigid mechanical grippers may not be able to handle them or may even damage them. Furthermore, due to their structure, materials, and motion characteristics, they pose a certain danger to nearby personnel while in operation. As a result, rigid mechanical grippers are generally used in specific scenarios to complete specific tasks, and are not suitable for unstructured and complex environments with frequent changes. Due to the increasing demand for human-computer interaction, soft grippers are required to grasp objects.

[0003] Some existing soft grippers cannot control the gripping distance and force of the fingertips when gripping fragile items, which can easily damage the surface of the items and cannot meet the need for gripping fragile items without damage.

[0004] Existing technology discloses a stiffness-enhanced soft gripper, including a rigid component and soft fingers. Each soft finger has an air cavity along its length for gas to enter. Several rectangular protrusions are evenly spaced along the length of the outer wall of each soft finger, with the inner cavity of the protrusions communicating with the air cavity of the soft finger. A limiting layer is provided along the length of the inner wall of each soft finger, embedded within the finger. A rigid component is mounted on each rectangular protrusion. In this design, an external air source is connected to the air cavity, and pressurized gas is introduced through an air pump. The "differential effect" between the limiting layer and the air cavity causes the soft finger to bend, thereby achieving the gripping action and increasing the fingertip force during gripping. However, in this design, the soft finger maintains a large gripping force throughout the bending process, and the gripping force cannot be adjusted. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a soft finger with adjustable gripping force, a gripper and its preparation method, which can first bend the soft finger for pre-grasping, then fix the fingertip position and adjust the gripping force to meet the gripping needs of different items.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A soft finger with adjustable gripping force is provided, including a soft actuator and a fingertip. The soft actuator has a cavity for gas passage along its length. The fingertip is fixedly mounted on one end of the soft actuator, and the other end of the soft actuator has an air supply channel communicating with the cavity. The outer sidewall of the soft actuator has several protrusions along its length, each protrusion containing an air groove communicating with the cavity, and a groove is formed between adjacent protrusions. The inner sidewall of the soft actuator has a bendable and lockable first blocking structure along its length, and the outer sidewall of the soft actuator has a retractable and lockable second blocking structure along its length. The two ends of the second blocking structure are respectively connected to the two ends of the outer sidewall of the soft actuator. The second blocking structure is wavy along the length of the soft actuator and can be engaged with the groove of the outer sidewall of the soft actuator. The second blocking structure can cooperate with the first blocking structure to lock the soft actuator.

[0007] The soft fingers of this invention require the simultaneous use of at least two when grasping objects. During grasping, appropriate air pressure is first input into the cavity through the air supply channel, causing the soft actuator to deform. Due to the protrusions on the outer wall of the soft actuator, the deformation of the inner wall is relatively small while the deformation of the outer wall is larger, thus causing the soft actuator to bend and allowing the fingertip to gently touch the object. At this time, because the increase in input air pressure is small, the impact force on the object can be minimized. During this process, the second blocking structure extends with the bending of the soft actuator, and the wavy second blocking structure remains engaged with several grooves. When the fingertip touches the object, the first and second blocking structures are locked, increasing their rigidity and simultaneously locking the shape of the soft actuator, controlling the bending angle of the soft fingers to keep the fingertip position unchanged. Then, air pressure continues to be input into the cavity through the air supply channel, increasing the grasping force of the soft fingers. This invention allows for pre-grabbing by bending the soft fingers first, then fixing the fingertip position and adjusting the grasping force, making it suitable for non-damaging grasping of fragile objects.

[0008] Furthermore, the first blocking structure includes a first airbag and a first surface layer housed within the first airbag. The first surface layer includes a plurality of single-piece sandpaper paperboards. The two ends of the first airbag are respectively connected to the two ends of the inner sidewall of the soft driver. The first airbag is provided with a first air extraction channel.

[0009] Furthermore, the second blocking structure includes a second airbag and a second surface layer, a core layer, and a third surface layer housed within the second airbag. The second surface layer, the core layer, and the third surface layer are all wavy. The core layer is located between the second surface layer and the third surface layer. The two ends of the second airbag are respectively connected to the two ends of the outer wall of the software driver. The second airbag is provided with a second air extraction channel.

[0010] Furthermore, the core layer includes several single-piece origami pieces, and the second and third surface layers each include several segmented origami pieces, which are divided into several segments along the length direction of the software driver.

[0011] Furthermore, the software driver is a silicone elastic structure.

[0012] The present invention also provides a soft gripper with adjustable gripping force, comprising a flange, a fixing block and at least two of the above-described soft fingers, wherein the end of the soft actuator away from the fingertip is connected to the fixing block, and the fixing block is detachably connected to the flange.

[0013] The soft gripper of the present invention, during installation, involves connecting at least two soft fingers to a flange via fixing blocks. By moving the flange, several soft fingers can be moved to a gripping position or the gripped item can be transferred to a specific location. In this embodiment, when gripping an item, air pressure is first input into the cavity through the air supply channel, causing the soft fingers to bend until the fingertips contact the item for pre-grip. Then, the bending angle of the soft actuator is locked by the first and second blocking structures to fix the position of the fingertips and maintain a constant distance between them. Air pressure is then input into the cavity again through the air supply channel to adjust the gripping force of the fingertips, making it suitable for non-damaging gripping of fragile items.

[0014] Furthermore, it also includes a connecting plate, the fixing block is installed on the connecting plate, the flange has a plurality of mounting holes, the connecting plate has a connecting hole, and the mounting hole and the connecting hole are connected by bolts.

[0015] Furthermore, the mounting hole is an oblong hole.

[0016] This invention also provides a method for preparing a soft gripper with adjustable gripping force, used to prepare the aforementioned soft gripper, characterized by comprising the following steps:

[0017] S1: Prepare the outer side wall mold, inner side wall mold, fingertip mold, and fixing block mold respectively;

[0018] S2: Prepare a liquid silicone rubber solution;

[0019] S3: Stir the prepared liquid silicone rubber solution and place it in a vacuum drying oven to create a vacuum.

[0020] S4: The degassed liquid silicone rubber solution is injected into the outer wall mold, inner wall mold, fingertip mold and fixing block mold of the soft actuator respectively. After standing at room temperature and completely curing, the elastomer is taken out to obtain the outer wall, inner wall, fingertip and fixing block of the soft actuator.

[0021] S5: Use the degassed liquid silicone rubber solution as an adhesive to bond the outer wall and inner wall of the soft actuator to form a soft actuator with a cavity. Bond the fingertip to one end of the soft actuator to form a soft finger, and bond a fixing block to the end of the soft finger away from the fingertip.

[0022] S6: Prepare the first blocking structure and the second blocking structure;

[0023] S7: The two ends of the first blocking structure are bonded to the two ends of the inner wall of the software driver, and the two ends of the second blocking structure are bonded to the two ends of the outer wall of the software driver, respectively, using silicone adhesive.

[0024] S8: Install at least two soft fingers onto the flange using a fixing block.

[0025] Preferably, in step S6, the steps of preparing the first blocking structure and the second blocking structure are as follows:

[0026] S61: Sandpaper is cut using a laser cutter to obtain several single-piece sandpaper paperboards;

[0027] S62: Take several single-piece sandpaper paperboards and stack them to form the first surface layer; take several single-piece sandpaper paperboards and fold them to form single-piece origami paper, and stack several single-piece origami paper to form the core layer; cut several single-piece sandpaper paperboards with a laser cutting machine and then fold them to form segmented origami paper, and stack several segmented origami paper to form the second surface layer and the third surface layer respectively.

[0028] S63: Fold the two airbag films in half and wrap them around the air tubes respectively. Use two aluminum blocks as heat-conducting blocks to fix the folded airbag films and air tubes respectively. Use a hot press to bond the airbag films and air tubes to obtain a first airbag with a first air extraction channel and a second airbag with a second air extraction channel respectively.

[0029] S64: The first surface layer is placed inside the first airbag and sealed by a hot press to obtain the first blocking structure; the second surface layer, the core layer, and the third surface layer are sequentially stacked and placed inside the second airbag, and sealed by a hot press to obtain the second blocking structure.

[0030] Compared with the prior art, the adjustable gripping force soft finger, soft gripper and its preparation method of the present invention have the following beneficial effects: the soft finger can be bent first for pre-grip, and then the gripping force can be adjusted after fixing the fingertip position, which is suitable for non-damaging gripping of fragile items. Attached Figure Description

[0031] Figure 1 This is a perspective view of the soft finger in an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the structure of the soft finger in an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the structure of the soft gripper in an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the outer wall mold in an embodiment of the present invention;

[0035] Figure 5 This is a schematic diagram of the inner wall mold in an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the structure of the fingertip mold in an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the structure of the fixed block mold in an embodiment of the present invention.

[0038] In the attached figures: 1-Soft driver; 101-Outer wall; 1011-Protrusion; 102-Inner wall; 103-Cavity; 104-Air supply channel; 2-Fingertip; 3-First blocking structure; 301-First suction channel; 4-Second blocking structure; 401-Second suction channel; 5-Fixing block; 6-Connecting plate; 7-Bolt; 8-Flange; 801-Mounting hole; 9-Outer wall mold; 10-Inner wall mold; 11-Fingertip mold; 12-Fixing block mold. Detailed Implementation

[0039] The present invention will be further described below with reference to specific embodiments. The accompanying drawings are for illustrative purposes only, representing schematic diagrams rather than actual physical objects, and should not be construed as limiting the scope of this patent. To better illustrate the embodiments of the present invention, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0040] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0041] Example 1

[0042] A soft finger with adjustable gripping force, such as Figure 1 , Figure 2 As shown, the device includes a soft actuator 1 and a fingertip 2. The soft actuator 1 has a cavity 103 along its length for gas to enter. The fingertip 2 is fixedly mounted on one end of the soft actuator 1, and the other end of the soft actuator 1 has an air supply channel 104 communicating with the cavity 103. The outer sidewall 101 of the soft actuator 1 has several protrusions 1011 along its length. Each protrusion 1011 has an air groove communicating with the cavity 103, and a groove is formed between two adjacent protrusions 1011. The inner sidewall 102 of the soft actuator 1... A first blocking structure 3 that can be bent and locked is provided along its own length direction. A second blocking structure 4 that can be stretched and locked is provided along its own length direction on the outer wall 101 of the software driver 1. The two ends of the second blocking structure 4 are respectively connected to the two ends of the outer wall 101 of the software driver 1. The second blocking structure 4 is wavy along the length direction of the software driver 1, and the second blocking structure 4 can be engaged with the groove of the outer wall 101 of the software driver 1. The second blocking structure 4 can cooperate with the first blocking structure 3 to lock the software driver 1.

[0043] The aforementioned soft fingers require the simultaneous use of at least two when grasping objects. During grasping, appropriate air pressure is first input into the cavity 103 through the air supply channel 104, causing the soft actuator 1 to deform. Due to the protrusion 1011 on the outer wall 101 of the soft actuator 1, the deformation of the inner wall 102 of the soft actuator 1 is relatively small, while the deformation of the outer wall 101 of the soft actuator 1 is larger. Therefore, the soft actuator 1 bends, allowing the fingertip 2 to gently touch the object. At this time, because the increase in input air pressure is small, the impact on the object is minimized. The impact force is applied during this process. The second blocking structure 4 extends as the soft actuator 1 bends, and the wavy second blocking structure 4 remains engaged with several grooves. When the fingertip 2 touches the object, the first blocking structure 3 and the second blocking structure 4 are locked, increasing their rigidity. At the same time, the shape of the soft actuator 1 is locked, controlling the bending angle of the soft finger to keep the position of the fingertip 2 unchanged. Then, air pressure continues to be input into the cavity 103 from the air supply channel 104, increasing the gripping force of the soft finger. In this embodiment, the soft finger can be bent first for pre-grabbing, and then the position of the fingertip 2 can be fixed before adjusting the gripping force, which is suitable for non-damaging gripping of fragile items.

[0044] The first blocking structure 3 includes a first airbag and a first surface layer housed within the first airbag. The first surface layer comprises several single-piece sandpaper-like cardboard pieces. The two ends of the first airbag are respectively connected to the two ends of the inner sidewall 102 of the soft driver 1. The first airbag is provided with a first suction channel 301, such as... Figure 1 , Figure 2 As shown. During implementation, when the soft actuator 1 bends during the pre-grabbing process of the item, it causes the first surface layer to bend. When the fingertip 2 touches the item, the first air bladder is evacuated through the first air extraction channel 301, thereby increasing the rigidity of the first blocking structure 3.

[0045] The second blocking structure 4 includes a second airbag and a second surface layer, a core layer, and a third surface layer housed within the second airbag. The second surface layer, core layer, and third surface layer are all wavy. The core layer is located between the second surface layer and the third surface layer. The two ends of the second airbag are respectively connected to the two ends of the outer wall 101 of the soft actuator 1. The second airbag is provided with a second air extraction channel 401, such as... Figure 1 , Figure 2 As shown. During implementation, in the process of pre-grabbing the object, since the second surface layer, core layer and third surface layer are wavy, when the soft actuator 1 bends, it causes the second surface layer, core layer and third surface layer to extend. When the fingertip 2 contacts the object, the second air duct 401 is used to evacuate the second airbag, thereby increasing the rigidity of the second blocking structure 4. The bending angle of the soft finger is locked by cooperating with the groove.

[0046] The core layer comprises several single-piece origami pieces, while the second and third layers each comprise several segmented origami pieces, which are divided into segments along the length of the software driver 1. When the number of origami layers is small, the length loss at the bends is negligible. However, as the number of layers increases, the accumulated length loss at the bends reduces the effective contact area of ​​the origami fingertips 2, thus affecting the stiffness variation performance. In this embodiment, the second and third layers are designed as several segmented origami pieces, which allows for more sufficient contact between each origami layer and maintains a larger effective contact area.

[0047] In this embodiment, both the soft actuator 1 and the fingertip 2 are made of silicone elastic structure, which can meet the bending requirements of the soft actuator 1 and increase the friction when the fingertip 2 grasps an object.

[0048] Example 2

[0049] A soft gripper with adjustable gripping force, such as Figure 3 As shown, it includes a flange 8, a fixing block 5, and at least two soft fingers as described in Embodiment 1. The end of the soft driver 1 away from the fingertip 2 is connected to the fixing block 5, and the fixing block 5 is detachably connected to the flange 8.

[0050] During installation, at least two soft fingers are connected to the flange 8 via fixing blocks 5. By moving the flange 8, several soft fingers can be moved to the gripping position or the gripped item can be transferred to a specific position. In this embodiment, when gripping an item, air pressure can first be input into the cavity 103 through the air supply channel 104 to make the soft fingers bend until the fingertips 2 contact the item for pre-grip. Then, the bending angle of the soft actuator 1 is locked by the first blocking structure 3 and the second blocking structure 4 to fix the position of the fingertips 2 and keep the distance between the fingertips 2 unchanged. Air pressure is then input into the cavity 103 again through the air supply channel 104 to adjust the gripping force of the fingertips 2. This method is suitable for non-damaging gripping of fragile items.

[0051] like Figure 3 As shown, it also includes a connecting plate 6, a fixing block 5 installed on the connecting plate 6, a flange 8 with several mounting holes 801, and a connecting hole on the connecting plate 6. The mounting holes 801 and the connecting holes are connected by bolts 7. In implementation, as needed, two or more connecting plates 6 can be connected to the flange 8 by bolts 7 to install two or more soft fingers on the flange 8 for gripping different items.

[0052] Specifically, such as Figure 3As shown, mounting hole 801 is a slotted hole. During implementation, bolt 7 includes a threaded rod and a nut. First, the threaded rod is passed through the connecting hole and the slotted hole in sequence, then the nut is tightened. This fixes the fixing block 5 and its flexible fingers onto the flange 8. When it is necessary to adjust the distance between the flexible fingers, the nut can be loosened first, the threaded rod moved within the slotted hole, and then the nut tightened again to adjust the installation position of the flexible fingers and thus the distance between different flexible fingers.

[0053] Example 3

[0054] A method for preparing a soft gripper with adjustable gripping force, used to prepare the soft gripper of Example 2, includes the following steps:

[0055] S1: Prepare the outer side wall mold 9, inner side wall mold 10, fingertip mold 11, and fixing block mold 12 respectively, as follows: Figures 4 to 7 As shown;

[0056] S2: Prepare a liquid silicone rubber solution;

[0057] S3: Stir the prepared liquid silicone rubber solution and place it in a vacuum drying oven to create a vacuum.

[0058] S4: The degassed liquid silicone rubber solution is injected into the outer wall mold 9, the inner wall mold 10, the fingertip mold 11 and the fixing block mold 12 respectively. After standing at room temperature and completely curing, the elastomer is taken out to obtain the outer wall 101, the inner wall 102, the fingertip 2 and the fixing block 5.

[0059] S5: The degassed liquid silicone rubber solution is used as an adhesive to bond the outer sidewall 101 and the inner sidewall 102 to form a soft actuator 1 with a cavity 103. A fingertip 2 is bonded to one end of the soft actuator 1 to form a soft finger, and a fixing block 5 is bonded to the end of the soft finger away from the fingertip 2.

[0060] S6: Prepare the first blocking structure 3 and the second blocking structure 4;

[0061] S7: The two ends of the first blocking structure 3 are bonded to the two ends of the inner wall 102 of the soft driver 1, and the two ends of the second blocking structure 4 are bonded to the two ends of the outer wall 101 of the soft driver 1, respectively, using silicone adhesive.

[0062] S8: At least two soft fingers are installed on the flange 8 by means of the fixing block 5.

[0063] In step S1, the shapes and structures of the outer sidewall mold 9, inner sidewall mold 10, fingertip mold 11, and fixing block mold 12 are determined according to the specific structures of the outer sidewall 101, inner sidewall 102, fingertip 2, and fixing block 5 of the soft driver 1. The outer sidewall mold 9, inner sidewall mold 10, fingertip mold 11, and fixing block 5 can be prepared using any existing method. In this embodiment, they can be obtained by printing with a 3D printing device.

[0064] In step S2, the liquid silicone rubber uses Dragon Skin 30 material; in step S3, the liquid silicone rubber is placed in a vacuum drying oven and vacuumed 2-3 times, 10 molecules each time, until the bubbles completely disappear; in step S4, after the liquid silicone rubber solution is injected into the mold, it needs to stand at room temperature for 16 hours and be taken out after complete curing.

[0065] In step S6, the steps for preparing the first blocking structure 3 and the second blocking structure 4 are as follows:

[0066] S61: Sandpaper is cut using a laser cutter to obtain several single-piece sandpaper paperboards;

[0067] S62: Take several single-piece sandpaper paperboards and stack them to form the first surface layer; take several single-piece sandpaper paperboards and fold them to form single-piece origami paper, and stack several single-piece origami paper to form the core layer; cut several single-piece sandpaper paperboards with a laser cutting machine and then fold them to form segmented origami paper, and stack several segmented origami paper to form the second surface layer and the third surface layer respectively.

[0068] S63: Fold the two airbag films in half to wrap the air tubes respectively, use two aluminum blocks as heat-conducting blocks to fix the folded airbag films and air tubes respectively, and use a hot press to bond the airbag films and air tubes to obtain a first airbag with a first air extraction channel 301 and a second airbag with a second air extraction channel 401 respectively.

[0069] S64: Place the first surface layer inside the first airbag and seal it with a hot press to obtain the first blocking structure 3; stack the second surface layer, the core layer, and the third surface layer in sequence and place them inside the second airbag, and seal them with a hot press to obtain the second blocking structure 4.

[0070] In step S61, the sandpaper is 1500-grit 3M sandpaper; in step S63, the airbag film is a 0.3mm thick TPU (Thermoplastic polyurethanes) film; and the air tube is a 4mm inner diameter PU (Polyurethane) tube. The process is carried out in a hot press. Heating at a certain temperature for 30 seconds causes the PU tube to bond with the TPU film.

[0071] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0072] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. 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 claims of the present invention.

Claims

1. A soft finger with adjustable gripping force, comprising a soft actuator (1) and a fingertip (2), wherein the soft actuator (1) has a cavity (103) for gas passage along its length, the fingertip (2) is fixedly mounted on one end of the soft actuator (1), and the other end of the soft actuator (1) has an air passage (104) communicating with the cavity (103); the outer wall (101) of the soft actuator (1) has a plurality of protrusions (1011) along its length, each protrusion (1011) having an air groove communicating with the cavity (103), and a groove being formed between two adjacent protrusions (1011); characterized in that, The inner wall (102) of the software driver (1) is provided with a flexible and lockable first blocking structure (3) along its own length direction. The outer wall (101) of the software driver (1) is provided with a retractable and lockable second blocking structure (4) along its own length direction. The two ends of the second blocking structure (4) are respectively connected to the two ends of the outer wall (101) of the software driver (1). The second blocking structure (4) is wavy along the length direction of the software driver (1), and the second blocking structure (4) can be engaged with the groove of the outer wall (101) of the software driver (1). The second blocking structure (4) can cooperate with the first blocking structure (3) to lock the software driver (1). The first blocking structure (3) includes a first airbag and a first surface layer inside the first airbag. The first surface layer includes several single-piece sandpaper paperboards. The two ends of the first airbag are respectively connected to the two ends of the inner sidewall (102) of the soft driver (1). The first airbag is provided with a first air extraction channel (301). The second blocking structure (4) includes a second airbag and a second surface layer, a core layer and a third surface layer installed in the second airbag. The second surface layer, the core layer and the third surface layer are all wavy. The core layer is located between the second surface layer and the third surface layer. The two ends of the second airbag are respectively connected to the two ends of the outer wall (101) of the software driver (1). The second airbag is provided with a second air extraction channel (401).

2. The flexible finger with adjustable gripping force according to claim 1, characterized in that, The core layer includes several single-piece origami pieces, and the second and third surface layers each include several segmented origami pieces, which are divided into several segments along the length direction of the software driver (1).

3. The flexible finger with adjustable gripping force according to claim 1, characterized in that, The software driver (1) is a silicone elastic structure.

4. A soft gripper with adjustable gripping force, characterized in that, Includes a flange (8), a fixing block (5), and at least two soft fingers with adjustable gripping force as described in any one of claims 1 to 3, wherein the end of the soft actuator (1) away from the fingertip (2) is connected to the fixing block (5), and the fixing block (5) is detachably connected to the flange (8).

5. The soft gripper with adjustable gripping force according to claim 4, characterized in that, It also includes a connecting plate (6), the fixing block (5) is installed on the connecting plate (6), the flange (8) has a plurality of mounting holes (801), the connecting plate (6) has a connecting hole, and the mounting hole (801) is connected to the connecting hole by bolts (7).

6. The soft gripper with adjustable gripping force according to claim 5, characterized in that, The mounting hole (801) is a waist-shaped hole.

7. A method for preparing a soft gripper with adjustable gripping force, used to prepare the soft gripper with adjustable gripping force as described in any one of claims 4 to 6, characterized in that, Includes the following steps: S1: Prepare the outer side wall mold (9), inner side wall mold (10), fingertip mold (11) and fixing block mold (12) respectively. S2: Prepare a liquid silicone rubber solution; S3: Stir the prepared liquid silicone rubber solution and place it in a vacuum drying oven to create a vacuum. S4: The degassed liquid silicone rubber solution is injected into the outer wall mold (9), inner wall mold (10), fingertip mold (11) and fixing block mold (12) respectively. After standing at room temperature and completely curing, the elastomer is taken out to obtain the outer wall (101), inner wall (102), fingertip (2) and fixing block (5). S5: The degassed liquid silicone rubber solution is used as an adhesive to bond the outer sidewall (101) and inner sidewall (102) of the soft actuator (1) to form a cavity (103). A fingertip (2) is bonded to one end of the soft actuator (1) with the cavity (103) to form a soft finger, and a fixing block (5) is bonded to the end of the soft finger away from the fingertip (2). S6: Prepare the first blocking structure (3) and the second blocking structure (4); S7: The two ends of the first blocking structure (3) are bonded to the two ends of the inner wall (102) of the soft driver (1) and the two ends of the second blocking structure (4) are bonded to the two ends of the outer wall (101) of the soft driver (1) respectively using silicone special adhesive. S8: Install at least two soft fingers onto the flange (8) by means of the fixing block (5).

8. The method for preparing a soft gripper with adjustable gripping force according to claim 7, characterized in that, In step S6, the steps for preparing the first blocking structure (3) and the second blocking structure (4) are as follows: S61: Sandpaper is cut using a laser cutter to obtain several single-piece sandpaper paperboards; S62: Take several single-piece sandpaper paperboards and stack them to form the first surface layer; take several single-piece sandpaper paperboards and fold them to form single-piece origami paper, and stack several single-piece origami paper to form the core layer; cut several single-piece sandpaper paperboards with a laser cutting machine and then fold them to form segmented origami paper, and stack several segmented origami paper to form the second surface layer and the third surface layer respectively. S63: Fold the two airbag films in half to wrap the air tubes respectively, use two aluminum blocks as heat-conducting blocks to fix the folded airbag films and air tubes respectively, and use a hot press to bond the airbag films and air tubes to obtain a first airbag with a first air extraction channel (301) and a second airbag with a second air extraction channel (401). S64: Place the first surface layer inside the first airbag and seal it with a hot press to obtain the first blocking structure (3); stack the second surface layer, the core layer and the third surface layer in sequence and place them inside the second airbag, and seal them with a hot press to obtain the second blocking structure (4).

Images