Configuration-variable underwater anti-viscous soft gripper and gripping method

Abstract

The invention discloses an underwater anti-viscous soft gripper with variable configuration and a gripping method. The underwater anti-viscous soft gripper comprises a finger fixing table, and one end of the finger fixing table is fixedly connected with the underwater mechanical arm through a flange; the four finger supports are evenly arranged in the circumferential direction of the finger fixing table at intervals, and one end of each finger support is fixedly installed at the other end of the finger fixing table; one end of each finger grabbing mechanism is movably installed at the other end of the corresponding finger support. The telescopic driving mechanism is arranged among the four finger grabbing mechanisms, and the telescopic driving mechanism is hinged to the upper portions of the four finger grabbing mechanisms. According to the grabbing method, grabbing is carried out according to a cross configuration grabbing mode and a side-by-side configuration grabbing mode. The robot has two configuration grabbing modes of a side-by-side configuration and a cross-shaped configuration, grabbing of different types of underwater grabbed objects is achieved, and the robot has high viscosity resistance underwater.

Description

Technical Field

[0001] The invention relates to the technical field of underwater soft robots, and in particular to an underwater anti-viscosity soft gripper with a variable configuration and a gripping method. Background Art

[0002] The ocean covers more than two-thirds of the Earth's surface and contains rich and yet to be fully developed resources. In recent years, with the rapid development of underwater facility construction and deep-sea exploration technology, the demand for intelligent operation and maintenance of underwater operations has increased significantly. However, due to safety risks, environmental complexity and high costs of diver training, traditional underwater operation and maintenance that relies on manpower can no longer meet the needs of modern and efficient operations. Therefore, underwater robots equipped with manipulators have emerged as the times require, providing a new solution for the development and protection of marine resources. Traditional rigid underwater manipulators perform well in grasping force and anti-interference ability, but when faced with soft and smooth marine organisms, they often fail to grasp due to uneven force distribution or overly stiff movements, and even cause damage to the organisms themselves. In contrast, soft grippers, with their superior adaptability and agility, show obvious advantages in handling complex and delicate grasping tasks.

[0003] However, due to a series of obstacles caused by the underwater environment and the complexity of marine life, the reliability and flexibility of underwater soft grippers are still very limited. Among them, the technical challenge that needs to be solved urgently is how to reduce the viscosity of flowing water, which leads to the poor stability of soft grippers. In order to adapt to the complex and diverse underwater grasping objects, how to improve the flexibility and adaptability of underwater soft grippers is also crucial. In the prior art, a rigid support skeleton is used to prevent the soft part from shaking due to the viscosity of the water during grasping, but the rigid support skeleton of the peripheral reduces the softness and service life of the soft gripper; in the prior art, a slide rail structure is set at the end of each finger to increase the flexibility of the soft gripper, and the soft hand can adjust the position of a single finger to adapt to grasping objects of different sizes. However, this type of soft gripper does not have the ability to change its configuration and cannot adapt to the selection of the optimal grasping method according to the shape of the grasped object. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the present invention provides a configuration-variable underwater anti-viscosity soft gripper and a gripping method, which are used to solve the technical problems in the prior art of underwater soft grippers failing in gripping tasks due to the viscosity of water and the complexity of the gripped objects.

[0005] The technical solution adopted by the present invention is:

[0006] 1. A configuration-variable underwater anti-viscosity soft gripper

[0007] A finger fixing platform, one end of which is fixedly connected to the underwater robotic arm through a flange; four finger brackets are evenly spaced along the circumference of the finger fixing platform, and one end of each finger bracket is fixedly mounted on the other end of the finger fixing platform; four finger grasping mechanisms, one end of each finger grasping mechanism is movably mounted on the other end of the corresponding finger bracket; a telescopic driving mechanism is arranged between the four finger grasping mechanisms, the telescopic driving mechanism includes a hydraulic cavity assembly and a connecting assembly, the connecting assembly is fixedly connected to the hydraulic cavity assembly, and the connecting assembly is also respectively hinged to the upper parts of the four finger grasping mechanisms, and the four finger grasping mechanisms are driven by the telescopic driving mechanism to rotate respectively to form different configuration arrangements.

[0008] The anti-stickiness refers to the ability of the soft gripper to resist the frictional resistance generated by the liquid when performing a gripping operation in the liquid.

[0009] Each of the finger grasping mechanisms comprises: a finger connecting assembly, one end of which is movably mounted on the other end of the corresponding finger bracket; and a single finger assembly, which is fixedly mounted on the other end of the finger connecting assembly.

[0010] The finger connection assembly includes: a second finger fixing base, one end of which is provided with a small hole, a slewing bearing is provided in the small hole, the outer ring of the slewing bearing is interference fit in the small hole, the inner ring of the slewing bearing is interference fit with the other end of the finger bracket, so that the second finger fixing base is movably mounted on the corresponding finger bracket; a first pin hole seat, fixedly mounted on the second finger fixing base; one end of the first finger fixing base is bonded and nested in the other end of the second finger fixing base, the first finger fixing base is fixedly connected to the second finger fixing base through a base connecting bolt, the other end of the first finger fixing base is provided with a convex-concave interlocking structure, and the first finger fixing base is also provided with a hole one.

[0011] The single finger assembly comprises: a soft hand outer shell, which is provided with a concave-convex interlocking structure and is fixedly connected with the concave-convex interlocking structure of the first finger fixing base, the soft hand outer shell is also provided with a plurality of convex blocks 1 connected along the in-plane direction, and a hole 2 and a hole 3 are respectively opened on the convex block 1 close to the first finger fixing base; a soft hand inner shell, the overall shape of the soft hand inner shell is consistent with the soft hand outer shell, the soft hand outer shell is sleeved on the outside of the soft hand inner shell, the soft hand inner shell is provided with a plurality of groups of convex block groups connected along the in-plane direction, the overall shape of each of the convex block groups is consistent with the corresponding convex block 1 in the soft hand outer shell, each of the convex block groups is sleeved with the corresponding convex block 1 in the soft hand outer shell, each group of convex block groups is provided with a plurality of convex block 2s along the out-of-plane direction, and is close to the first finger fixing base. The convex block 2 of the base is also provided with a hole 4; the finger base is sealed and bonded to the bottom of the soft hand inner shell, and the finger base and the inner surface of the soft hand inner shell form a soft hand inner shell sealed cavity, and the finger base is also sealed and bonded to the soft hand outer shell, and the finger base, the outer surface of the soft hand inner shell and the inner surface of the soft hand outer shell form a soft hand outer shell sealed cavity; a soft hand outer shell flow channel joint, one end of which is connected to the hole 2 of the soft hand outer shell, so that the soft hand outer shell flow channel joint is connected to the soft hand outer shell sealed cavity; a soft hand inner shell flow channel joint, one end of which passes through the hole 1 and the hole 3 and then is connected to the hole 4, so that the soft hand inner shell flow channel joint is connected to the soft hand inner shell sealed cavity; an outer finger assembly hydraulic pump is connected to the other end of the soft hand outer shell flow channel joint; an inner finger assembly hydraulic pump is connected to the other end of the soft hand inner shell flow channel joint.

[0012] The in-plane direction is a plane parallel to the plane where the base of the finger is located; the out-of-plane direction is a plane parallel to the plane where the side surface of the soft hand shell is located.

[0013] The hydraulic chamber assembly includes: a telescopic drive base, which is a cylindrical hollow chamber with openings at both ends, and a hole five is opened on the side of the telescopic drive base; two soft telescopic sealing chambers, one end of each soft telescopic sealing chamber is respectively connected to the two ends of the telescopic drive base, and the other end of each soft telescopic sealing chamber is sealed, and the telescopic drive base and the two soft telescopic sealing chambers form a telescopic hollow chamber; a telescopic drive mechanism flow channel joint, one end of which is connected to the hole five of the telescopic drive base, so that the telescopic drive mechanism flow channel joint is connected to the telescopic hollow chamber; a telescopic mechanism hydraulic pump, and the other end of the telescopic drive mechanism flow channel joint is connected to the telescopic mechanism hydraulic pump.

[0014] The connecting assembly includes: two fixed plates, which are respectively fixedly mounted on one end of the seals of two soft telescopic sealing cavities; four second pin hole seats, wherein one end of two second pin hole seats are respectively fixedly mounted side by side and vertically on a corresponding fixed plate, and one end of the other two second pin hole seats are respectively fixedly mounted side by side and vertically on another fixed plate; four pin hole seat connecting rods, one end of each pin hole seat connecting rod is respectively hinged to the other end of the corresponding second pin hole seat, and the other end of each pin hole seat connecting rod is respectively hinged to the first pin hole seat on the corresponding second finger fixing base, and each pin hole seat connecting rod drives the finger connecting assembly to rotate along the circumferential plane of the finger fixing platform through the first pin hole seat.

[0015] The underwater anti-stick soft gripper further comprises:

[0016] The control system is electrically connected to the four outer finger assembly hydraulic pumps, the four inner finger assembly hydraulic pumps and the telescopic mechanism hydraulic pump respectively.

[0017] 2. A Grasping Method of Underwater Anti-viscosity Soft Grabber

[0018] The grasping method is grasped in a cross configuration grasping mode and a side-by-side configuration grasping mode. The cross configuration grasping mode is to first evacuate the liquid in the soft telescopic sealing cavity so that the finger bases of the four finger grasping mechanisms form a cross configuration arrangement, and then adjust the rigidity of the side of a single finger assembly by adjusting the liquid in the sealing cavity of the inner shell of the soft hand, and finally grasp by filling the sealing cavity of the outer shell of the soft hand, which is used to grasp spherical irregular objects.

[0019] The side-by-side configuration grasping method is to first fill the soft telescopic sealing cavity with liquid so that the finger bases of the four-finger grasping mechanism form a side-by-side configuration arrangement, and then adjust the rigidity of the side of a single finger assembly by adjusting the liquid in the sealing cavity of the inner shell of the soft hand. Finally, grasping is achieved by filling the sealing cavity of the outer shell of the soft hand with liquid, which is used to grasp cylindrical or flat irregular objects.

[0020] The cross configuration is arranged such that the planes where two opposite finger bases among the four finger bases are located are parallel to each other, and the planes where two adjacent finger bases are located are perpendicular to each other; the side-by-side configuration is arranged such that the plane where each finger base is located is on the same plane as the plane where one of the adjacent finger bases is located, and is parallel to the plane where the other adjacent finger base is located.

[0021] The rigidity is the ability of a single finger assembly to resist deformation when subjected to the viscous force of a liquid.

[0022] The cross configuration grabbing method is specifically:

[0023] Before the underwater anti-stickiness soft gripper performs a grasping operation, the telescopic hollow cavity, the soft hand inner shell sealing cavity and the soft hand outer shell sealing cavity are filled with liquid.

[0024] The telescopic mechanism hydraulic pump continuously draws liquid outward through the telescopic drive mechanism flow channel joint, and the contraction of the soft telescopic sealing cavity drives the rotation of each finger grasping mechanism until the telescopic hollow cavity is completely contracted, so that the four finger grasping mechanisms form a cross configuration arrangement.

[0025] The inner finger assembly hydraulic pump fills and extracts liquid into and from the sealed cavity of the soft hand inner shell through the soft hand inner shell flow channel joint, thereby adjusting the rigidity of the side surface of the single finger assembly.

[0026] The outer finger assembly hydraulic pump fills liquid into the sealed cavity of the soft hand shell through the soft hand shell flow channel joint, so that the single finger assembly bends to achieve grasping, which is used to grasp spherical irregular objects.

[0027] The side-by-side configuration grabbing method is specifically as follows:

[0028] Before the underwater anti-stickiness soft gripper performs a grasping operation, the telescopic hollow cavity, the soft hand inner shell sealing cavity and the soft hand outer shell sealing cavity are filled with liquid.

[0029] The telescopic mechanism hydraulic pump continuously fills the liquid into the telescopic drive mechanism flow channel joint, and the expansion of the soft telescopic sealing cavity drives the rotation of each finger grasping mechanism until the telescopic hollow cavity is fully expanded, so that the four finger grasping mechanisms are arranged in a side-by-side configuration.

[0030] The inner finger assembly hydraulic pump fills and extracts liquid into and from the sealed cavity of the soft hand inner shell through the soft hand inner shell flow channel joint, thereby adjusting the rigidity of the side surface of the single finger assembly.

[0031] The outer finger assembly hydraulic pump fills liquid into the sealed cavity of the soft hand shell through the soft hand shell flow channel joint, so that the single finger assembly bends to achieve grasping, which is used to grasp cylindrical or flat irregular objects.

[0032] The present invention has the following beneficial effects:

[0033] 1. The single finger assembly of the present invention is entirely made of highly elastic flexible materials, which ensures a large grasping force and prevents rigid components from damaging complex underwater grasping objects.

[0034] 2. The hydraulic drive of the present invention can generate a greater grasping force, and can adaptively adjust the internal pressure according to the underwater environment to balance the water pressure.

[0035] 3. The telescopic drive mechanism designed in the present invention enables the finger grasping mechanism to have two configurations. The finger connecting assembly drives the rotation of the single finger assembly, realizing free switching between the side-by-side configuration and the cross configuration. The bending direction of the single finger assembly has the maximum grasping force. When facing different types of underwater grasping objects, selecting a suitable configuration can make the bending direction of the single finger assembly perpendicular to the contact surface of the grasping object, so as to generate greater grasping force and more precise grasping direction, thereby improving grasping accuracy and stability.

[0036] 4. The single finger assembly of the present invention comprises two sealed chambers, a soft hand inner shell sealed chamber and a soft hand outer shell sealed chamber; the soft hand outer shell sealed chamber is pressurized to achieve bending of a single finger, and after the soft hand inner shell sealed chamber is pressurized, a force of uniform size, opposite direction and perpendicular to the direction of the soft gripper's gripping force is formed inside, thereby increasing the out-of-plane stiffness of a single finger and further increasing the soft gripper's ability to resist the viscosity of water.

[0037] 5. The single finger assembly of the present invention has low gripping force when it is bent to a small extent. Passing a high water pressure into the sealed cavity of the inner shell of the soft hand will not change the bending degree of the soft gripper, but since the overall stiffness of the finger is improved, the gripping force that can be applied is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a three-dimensional schematic diagram of the present invention without a hydraulic pump;

[0039] Figure 2 It is a schematic diagram of the structure of the present invention before and after the two configurations without a hydraulic pump are changed;

[0040] Figure 3 is a top view of the telescopic drive assembly of the present invention before and after the two configurations are changed;

[0041] Figure 4 It is a structural schematic diagram of the telescopic drive mechanism without a hydraulic pump of the present invention;

[0042] Figure 5 is an exploded schematic diagram of a single finger assembly and a finger connection assembly without a hydraulic pump of the present invention;

[0043] Figure 6 is a schematic structural diagram of a finger connection assembly of the present invention;

[0044] Figure 7 (a) is a schematic diagram of the structure of the soft hand shell of the present invention; Figure 7 (b) is a schematic diagram of the structure of the soft hand inner shell of the present invention; Figure 7 (c) is a schematic cross-sectional structure diagram of the soft hand outer shell and the soft hand inner shell after being assembled;

[0045] Figure 8is the experimental result diagram of the lateral force of the fingertip of a single finger assembly changing with the hydraulic pressure of the sealing chamber of the soft hand shell;

[0046] Fig. 9 This is a graph showing the experimental results of the fingertip force of a single finger assembly changing with the hydraulic pressure in the sealing chamber of the soft hand shell.

[0047] In the figure: 1. finger fixing platform; 2. finger bracket; 3. finger connecting assembly; 31. first finger fixing base; 32. second finger fixing base; 33. base connecting bolt; 34. first pin hole seat; 4. telescopic drive mechanism; 41. fixing plate; 42. soft telescopic sealing chamber; 43. telescopic drive base; 44. second pin hole seat; 45. pin hole seat connecting rod; 46. pin hole seat connecting bolt; 5. single finger assembly; 51. soft hand outer shell flow channel joint; 52. soft hand outer shell; 53. soft hand inner shell; 54. finger base; 55. soft hand inner shell flow channel joint; 56. soft hand inner shell sealing chamber; 57. soft hand outer shell sealing chamber; 6. telescopic drive mechanism flow channel joint. DETAILED DESCRIPTION

[0048] The present invention is described in more detail below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited thereto. For those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field.

[0049] like Figure 1 and Figure 2 As shown, the underwater anti-stickiness soft gripper with variable configuration in this embodiment is a four-claw structure as a whole, and the overall height is about 300 mm. The underwater anti-stickiness soft gripper of this embodiment includes:

[0050] The finger fixing platform 1 has one end which is detachably fixedly connected to the underwater robotic arm through a flange. A through hole with a diameter of 10 mm is also provided in the middle of the finger fixing platform 1. The finger fixing platform 1 is in the shape of a two-layer stepped cylinder. The whole material is stainless steel and is manufactured by injection molding.

[0051] Four finger brackets 2 are evenly spaced along the circumference of the finger fixing platform 1, and the diameter of the circle formed by the four finger brackets 2 evenly spaced along the circumference is 150 mm. One end of each finger bracket 2 is welded and fixed on the other end of the finger fixing platform 1; each finger bracket 2 is a curved cylinder as a whole, with a diameter of 5 mm, made of stainless steel, and manufactured by injection molding.

[0052] There are four finger grasping mechanisms, each of which is arranged vertically, and one end of each finger grasping mechanism is movably mounted on the other end of the corresponding finger bracket 2; each finger grasping mechanism can rotate around the other end of the corresponding finger bracket 2, thereby changing the configuration of the underwater anti-stickiness soft gripper.

[0053] The telescopic driving mechanism 4 is arranged between the four finger grasping mechanisms. The telescopic driving mechanism 4 is also located in the middle of the side close to the connection between the finger bracket 2 and the finger fixing platform 1. One end of the telescopic driving mechanism 4 passes through the through hole of the finger fixing platform 1. The telescopic driving mechanism 4 includes a hydraulic cavity assembly and a connecting assembly. The connecting assembly is fixedly connected to the hydraulic cavity assembly, and the connecting assembly is also respectively hinged to the upper part of the four finger grasping mechanisms.

[0054] Anti-stickiness refers to the ability of a soft gripper to resist the frictional resistance generated by the liquid when performing a grasping operation in the liquid.

[0055] like Figure 1 , Figure 2 and Figure 5 Each finger gripping mechanism includes:

[0056] One end of the finger connection component 3 is movably mounted on the other end of the corresponding finger bracket 2. The finger connection component 3 and the telescopic driving mechanism 4 are at the same height. The four finger connection components 3 and the telescopic driving mechanism 4 are arranged in a centrally symmetrical manner.

[0057] The single finger component 5 is fixedly mounted to the other end of the finger connecting component 3 .

[0058] like Figure 5 and Figure 6 As shown, the finger connection component 3 includes:

[0059] The second finger fixing base 32 is provided with a small hole at one end, and a slewing bearing is provided in the small hole. The outer ring of the slewing bearing is interference fit in the small hole, and the inner ring of the slewing bearing is interference fit with the other end of the finger bracket 2, so that the second finger fixing base 32 is movably installed on the corresponding finger bracket 2 to realize the free rotation of the finger connecting assembly 3 around the respective finger bracket 2.

[0060] The first pin hole seat 34 is fixedly mounted on the second finger fixing base 32 .

[0061] One end of the first finger fixing base 31 is bonded and nested in the other end of the second finger fixing base 32. The first finger fixing base 31 is fixedly connected to the second finger fixing base 32 through a base connecting bolt 33. The other end of the first finger fixing base 31 is provided with a concave-convex interlocking structure, and a hole 1 is also opened on the first finger fixing base 31.

[0062] The first finger fixing base 31 , the second finger fixing base 32 and the first pin hole base 34 are all made of photosensitive resin and are manufactured by using a light-curing 3D printing process.

[0063] like Figure 1 , Figure 2 and Figure 5 As shown, the single finger assembly 5 includes:

[0064] like Figure 7 As shown in (a), the soft hand shell 52 is provided with a concave-convex interlocking structure and is detachably fixedly connected with the concave-convex interlocking structure of the first finger fixing base 31. In order to further improve the fixed connection strength, strong glue can be filled in the concave-convex interlocking structure to improve the reliability of the concave-convex interlocking structure. The soft hand shell 52 is also provided with a plurality of convex blocks 1 connected along the in-plane direction, and holes 2 and 3 are respectively opened on the convex blocks 1 close to the first finger fixing base 31.

[0065] like Figure 7 As shown in (b), the soft hand inner shell 53 has the same overall shape as the soft hand outer shell 52. Figure 7 As shown in (c), the soft hand outer shell 52 is fitted on the outside of the soft hand inner shell 53, and the soft hand inner shell 53 is provided with a plurality of groups of convex block groups connected along the in-plane direction. The overall shape of each convex block group is consistent with the corresponding convex block one in the soft hand outer shell 52, and each convex block group is fitted with the corresponding convex block one in the soft hand outer shell 52. Each group of convex block groups is provided with a plurality of convex blocks two along the out-of-plane direction, and a hole four is also opened on one of the convex blocks two near the first finger fixing base 31.

[0066] The finger base 54 is sealed and bonded to the bottom of the soft hand inner shell 53, and the finger base 54 and the inner surface of the soft hand inner shell 53 form a soft hand inner shell sealed cavity 56. The finger base 54 is also sealed and bonded to the soft hand outer shell 52, and the outer surface of the finger base 54, the soft hand inner shell 53 and the inner surface of the soft hand outer shell 52 form a soft hand outer shell sealed cavity 57.

[0067] One end of the soft hand shell flow channel joint 51 is communicated with the second hole of the soft hand shell 52 , so that the soft hand shell flow channel joint 51 is communicated with the soft hand shell sealing cavity 57 .

[0068] One end of the soft hand inner shell flow channel joint 55 passes through hole 1 and hole 3 and then communicates with hole 4, so that the soft hand inner shell flow channel joint 55 is communicated with the soft hand inner shell sealing cavity 56.

[0069] The outer finger assembly hydraulic pump is connected to the other end of the soft hand shell flow channel connector 51.

[0070] The inner finger assembly hydraulic pump is connected to the other end of the soft hand inner shell flow channel joint 55.

[0071] The in-plane direction is a plane parallel to the plane where the finger base 54 is located; the out-of-plane direction is a plane parallel to the plane where the side surface of the soft hand shell 52 is located.

[0072] The side surface of the soft hand housing 52 is the side surface of the convex block 1 of the soft hand housing 52 .

[0073] In a specific implementation, the soft hand outer shell 52 is 200 mm long, 50 mm wide, and 30 mm high. Except for the groove formed between adjacent convex blocks 1, the wall thickness of the remaining walls is 5 mm. The finger base 54 has the same width of 50 mm, length of 180 mm, and thickness of 5 mm. Therefore, the finger base 54 can be perfectly aligned with the bottom of the soft hand outer shell 52 and sealed and bonded with underwater insulating sealant. The soft hand inner shell 53 is 160 mm long, 40 mm wide, and 20 mm high. Each group of convex blocks has three convex blocks 2 in the out-of-plane direction. The groove formed between adjacent convex blocks 2 is 2 mm wide, the wall thickness of the groove is 1.5 mm, and the remaining wall thickness is 3.5 mm. The bottom of the soft hand inner shell 53 is sealed and bonded with the finger base 54 with underwater insulating sealant. Because the width of the soft hand inner shell 53 is equal to the width of the soft hand outer shell 52 minus the wall thickness, the soft hand inner shell 53 can be nested in the soft hand outer shell 52, and the side wall of the soft hand inner shell 53 fits the inner wall of the soft hand outer shell 52. The soft hand outer shell 52, the soft hand inner shell 53 and the finger base 54 are all made of highly elastic silicone rubber material by reverse molding and are soft as a whole. The soft hand outer shell flow channel joint 51 and the soft hand inner shell flow channel joint 55 are made of polyvinyl chloride resin by extrusion molding. The above materials have excellent corrosion resistance and good softness.

[0074] When the outer finger assembly hydraulic pump pumps liquid into the soft hand shell sealing cavity 57 through the soft hand shell flow channel joint 51, the hydraulic pressure in the soft hand shell sealing cavity 57 increases, and the grooves in the in-plane direction expand first due to their thinner wall thickness, and squeeze each other to bend the single finger assembly 5; when the inner finger assembly hydraulic pump pumps liquid into the soft hand inner shell sealing cavity 56 through the soft hand inner shell flow channel joint 55, the hydraulic pressure in the soft hand inner shell sealing cavity 56 increases, and the grooves in the out-of-plane direction expand first due to their thinner wall thickness, and squeeze each other to produce equal and opposite forces and act on the inner wall of the soft hand shell 52, while the grooves in the in-plane direction cannot be squeezed due to their larger spacing and thicker wall thickness, so the soft hand inner shell sealing cavity 56 will not affect the bending degree of the single finger assembly 5.

[0075] In the embodiment of the present invention, the soft hand outer shell 52 is integrally provided with a convex block one along the direction of the single finger component 5, i.e., the in-plane direction. When the outer finger component hydraulic pump fills water and increases pressure into the soft hand outer shell sealing cavity 57 through the soft hand outer shell flow channel joint 51, the grooves in the in-plane direction formed between adjacent convex blocks 1 expand first due to their thinner wall thickness, thereby realizing the bending of the single finger component 5; each group of convex blocks of the soft hand inner shell 53 is provided with a convex block 2 perpendicular to the direction of the single finger component 5, i.e., the out-of-plane direction. When the inner finger component hydraulic pump fills water and increases pressure into the soft hand inner shell sealing cavity 56, the grooves in the out-of-plane direction formed between adjacent convex blocks 2 expand first due to their thinner wall thickness, and squeeze each other to generate forces of equal magnitude and opposite direction and act on the inner wall of the soft hand outer shell 52, thereby enhancing the out-of-plane rigidity of the single finger component 5.

[0076] Rigidity refers to the ability of a single finger assembly 5 to resist deformation under the action of liquid viscosity.

[0077] like Figure 3 and Figure 4 As shown, the hydraulic chamber assembly includes:

[0078] The telescopic driving base 43 is a cylindrical hollow cavity with openings at both ends. A hole five is provided on the side of the telescopic driving base 43 .

[0079] There are two soft telescopic sealed cavities 42, one end of each soft telescopic sealed cavity 42 is connected to the two ends of the telescopic driving base 43 respectively, and the other end of each soft telescopic sealed cavity 42 is sealed. The telescopic driving base 43 and the two soft telescopic sealed cavities 42 form a telescopic hollow cavity.

[0080] One end of the telescopic drive mechanism flow channel joint 6 is connected to the hole 5 of the telescopic drive base 43, so that the telescopic drive mechanism flow channel joint 6 is connected to the telescopic hollow cavity.

[0081] The flow channel joint 6 of the telescopic driving assembly is made of polyvinyl chloride resin by extrusion molding and has good flexibility.

[0082] The other end of the telescopic mechanism hydraulic pump and the telescopic drive mechanism flow channel joint 6 pass through the through hole of the finger fixing platform 1 and are connected with the telescopic mechanism hydraulic pump.

[0083] like Figure 3 and Figure 4 As shown, the connection components include:

[0084] The two fixing plates 41 are respectively fixedly mounted on one end of the two flexible telescopic sealing chambers 42 .

[0085] There are four second pin hole seats 44 , two of which have one end fixedly mounted side by side and vertically on a corresponding fixing plate 41 , and the other two second pin hole seats 44 have one end fixedly mounted side by side and vertically on another fixing plate 41 .

[0086] Four pin hole seat connecting rods 45, one end of each pin hole seat connecting rod 45 is hinged to the other end of the corresponding second pin hole seat 44 through a pin hole seat connecting bolt 46, the other end of each pin hole seat connecting rod 45 is hinged to the first pin hole seat 34 on the corresponding second finger fixing base 32, and each pin hole seat connecting rod 45 drives the finger connecting assembly 3 to rotate along the circumferential plane of the finger fixing platform 1 through the first pin hole seat 34.

[0087] The fixed plate 41, the telescopic drive base 43, the second pin hole seat 44 and the pin hole seat connecting rod 45 are all made of photosensitive resin and are manufactured by 3D printing technology. The soft telescopic sealing cavity 42 is made of highly elastic silicone rubber material by reverse molding and is soft as a whole. The telescopic drive mechanism flow channel joint 6 is made by extrusion molding of polyvinyl chloride resin and has excellent chemical stability and good softness. The above materials have high corrosion resistance in water environment and can be used for a long time. The telescopic hollow cavity is initially completely filled with water. When the telescopic hollow cavity is continuously filled with water to increase pressure or pumped out to relieve pressure through the telescopic drive mechanism flow channel joint 6 by the telescopic mechanism hydraulic pump, the telescopic hollow cavity expands and lengthens or contracts and shortens because the water pressure inside the telescopic hollow cavity is greater than or less than the external water pressure, thereby pulling the second pin hole seat and the pin hole seat connecting rod to move outward or inward, thereby driving each finger connection component 3 and the single finger component 5 to rotate, so as to realize the change of the soft gripper configuration.

[0088] The viscosity of the soft gripper in the liquid is that when the soft gripper performs a grasping operation in the liquid, it will drive the mutual movement between the layers of liquid, thereby generating a tangential friction force. This friction force is opposite to the direction of relative motion, hindering the flow of the liquid, and further hindering the soft gripper from performing a grasping operation in the liquid.

[0089] like Figure 8 As shown in FIG. 1 , it is an experimental result diagram of the change of the lateral force of the fingertip of the single finger assembly 5 of the underwater anti-viscosity soft gripper of the present invention with the water pressure of the outer sealed cavity 57 of the soft hand shell when different water pressures are passed through the inner sealed cavity 56 of the soft hand shell. The experimental results show that the greater the water pressure in the inner sealed cavity 56 of the soft hand shell, the higher the out-of-plane rigidity of the single finger assembly 5, the smaller the out-of-plane bending of the single finger assembly 5 caused by the viscosity of the water, and the higher the anti-viscosity effect.

[0090] In this embodiment, a lateral force applied to the fingertip of the single finger assembly 5 is further used to replace the influence of the viscosity of the water body. The experimental plan is: the single finger assembly 5 is placed horizontally and the internal pressure is consistent with the ambient pressure. A force sensor is placed laterally on the fingertip of the single finger assembly 5. The force sensor is located above the vertical moving platform bracket. Different water pressures are introduced into the soft hand inner shell sealed cavity 56 and the soft hand outer shell sealed cavity 57 of the single finger assembly 5. After stabilization, the vertical moving platform bracket is moved up 15 mm to simulate the effect of the viscosity of the water body, and the output changes of the force sensor are recorded.

[0091] like Figure 8 As shown in FIG. 1 , the experimental results show that when there is no water pressure in the sealed cavity 56 of the soft hand inner shell, the water pressure in the sealed cavity 57 of the soft hand outer shell is continuously increased, and the lateral force received by the fingertip of the single finger assembly 5 continues to increase, indicating that when the single finger assembly 5 is bent, due to the increase in the pressure in the sealed cavity 57 of the soft hand outer shell, the rigidity of the single finger assembly 5 gradually increases, and the effect of resisting the viscosity of the water body is enhanced. When the sealed cavity 56 of the soft hand inner shell is subjected to a water pressure of 10 kPa, the anti-viscosity ability of the single finger assembly 5 when it is not bent is improved. The force applied to the fingertips of the single finger assembly 5 increases from 0.76N to 1.01N, and stabilizes at 1.57N at a water pressure of 60kPa. The anti-stickiness effect is significantly improved. When a water pressure of 20kPa is introduced into the sealed cavity 56 of the soft hand inner shell, the anti-stickiness effect of the single finger assembly 5 is further improved. The above results prove that the nested double-layer sealed cavity design has an excellent improvement in the ability of the underwater soft gripper to resist water viscosity.

[0092] In this embodiment, a positive force applied to the fingertip of the single finger assembly 5 is further used to replace the grasping force. The experimental plan is: the single finger assembly 5 is placed horizontally in the positive direction and the internal pressure is kept consistent with the ambient pressure. A force sensor is placed on the fingertip of the single finger assembly 5. The force sensor is located above the vertical moving platform bracket. Different water pressures are introduced into the soft hand inner shell sealed cavity 56 and the soft hand outer shell sealed cavity 57 of the single finger assembly 5. The position of the vertical moving platform bracket is kept unchanged. After stabilization, the output changes of the force sensor are recorded.

[0093] like Fig. 9As shown in the figure, the experimental results show that when there is no water pressure in the sealed cavity 56 of the soft hand inner shell, the water pressure in the sealed cavity 57 of the soft hand outer shell is continuously increased, and the force received by the fingertips of the single finger assembly 5 continues to increase, indicating that when the single finger assembly 5 is bent, the gripping force of the single finger assembly 5 gradually increases due to the increase in the pressure in the sealed cavity 57 of the soft hand outer shell. When 10 kPa water pressure is introduced into the sealed cavity 56 of the soft hand inner shell, the water pressure in the sealed cavity 57 of the soft hand outer shell increases from 0 to 20 kPa, and the force received by the fingertips of the single finger assembly 5 is significantly increased. When the water pressure in the sealed cavity 57 of the soft hand outer shell increases to 60 kPa, the force received by the fingertips of the single finger assembly 5 is almost the same as when there is no water pressure in the sealed cavity 56 of the soft hand inner shell, indicating that the grasping force of the single finger assembly 5 at a low degree of bending is significantly improved. When 20 kPa of water pressure is introduced into the sealed cavity 56 of the soft hand inner shell, the grasping force of the single finger assembly 5 at a low degree of bending is improved even more. The above results prove that the nested double-layer sealed cavity design has an excellent improvement in the grasping force of the underwater soft gripper at a low degree of bending.

[0094] The configuration-variable underwater anti-viscosity soft gripper of this embodiment further includes: a control system, which is electrically connected to the four outer finger assembly hydraulic pumps, the four inner finger assembly hydraulic pumps and the telescopic mechanism hydraulic pump respectively.

[0095] This embodiment is carried out according to the grasping method of underwater anti-sticky soft grasper:

[0096] The grasping methods are respectively carried out in a cross configuration grasping method and a side-by-side configuration grasping method.

[0097] The cross-configuration grasping method is to first evacuate the liquid in the soft telescopic sealing cavity 42 so that the finger bases 54 of the four-finger grasping mechanism form a cross-configuration arrangement, and then adjust the rigidity of the side of the single finger assembly 5 by adjusting the liquid in the soft hand inner shell sealing cavity 56, and finally achieve grasping by filling the soft hand outer shell sealing cavity 57 with liquid, which is used to grasp spherical irregular objects.

[0098] The side-by-side configuration grasping method is to first fill the soft telescopic sealing cavity 42 with liquid so that the finger bases 54 of the four-finger grasping mechanism form a side-by-side configuration arrangement, and then adjust the rigidity of the side of the single finger assembly 5 by adjusting the liquid in the soft hand inner shell sealing cavity 56. Finally, grasping is achieved by filling the soft hand outer shell sealing cavity 57 with liquid, which is used to grasp cylindrical or flat irregular objects.

[0099] The cross configuration arrangement is that the surfaces of two opposing finger bases 54 of the four finger bases 54 are parallel to each other, and the surfaces of two adjacent finger bases 54 are perpendicular to each other; the side-by-side configuration arrangement is that the surface of each finger base 54 is on the same plane as the surface of one adjacent finger base 54, and is parallel to the surface of another adjacent finger base 54. In the cross configuration arrangement, one group of two opposing finger grasping mechanisms rotates 45 degrees in one direction, and the other group of two opposing finger grasping mechanisms rotates 45 degrees in the opposite direction to form a side-by-side configuration arrangement.

[0100] The cross configuration arrangement can achieve a close fit with the grasped object when grasping spherical irregular objects, and the grasping force is utilized to the maximum extent, and the grasping accuracy, stability and accuracy are improved. For example, grasping includes but is not limited to stones, sea urchins and conchs in the ocean; the side-by-side configuration arrangement can achieve a close fit with the grasped object when grasping cylindrical or flat irregular objects, and the grasping force is utilized to the maximum extent, and the grasping accuracy, stability and accuracy are improved. For example, grasping includes but is not limited to various types of fish, sea cucumbers and shells in the ocean.

[0101] The specific cross configuration grabbing method is:

[0102] Before the underwater anti-stick soft gripper performs a grasping operation, the telescopic hollow cavity, the soft hand inner shell sealing cavity 56 and the soft hand outer shell sealing cavity 57 are filled with liquid.

[0103] The telescopic mechanism hydraulic pump continuously draws liquid outward through the telescopic drive mechanism flow channel joint 6, and the contraction of the soft telescopic sealing cavity 42 drives the rotation of each finger grasping mechanism until the telescopic hollow cavity is completely contracted, so that the four finger grasping mechanisms form a cross configuration arrangement.

[0104] The inner finger assembly hydraulic pump fills and extracts liquid into and from the soft hand inner shell sealing cavity 56 through the soft hand inner shell flow channel joint 55, thereby adjusting the rigidity of the side surface of the single finger assembly 5.

[0105] The outer finger assembly hydraulic pump fills liquid into the soft hand shell sealing cavity 57 through the soft hand shell flow channel joint 51, so that the single finger assembly 5 bends to achieve grasping, which is used to grasp spherical irregular objects.

[0106] The side-by-side configuration grabbing method is as follows:

[0107] Before the underwater anti-stick soft gripper performs a grasping operation, the telescopic hollow cavity, the soft hand inner shell sealing cavity 56 and the soft hand outer shell sealing cavity 57 are filled with liquid.

[0108] The telescopic mechanism hydraulic pump continuously fills the liquid inward through the telescopic drive mechanism flow channel joint 6, and the expansion of the soft telescopic sealing cavity 42 drives the rotation of each finger grasping mechanism until the telescopic hollow cavity is fully expanded, so that the four finger grasping mechanisms are arranged in a side-by-side configuration.

[0109] The inner finger assembly hydraulic pump fills and extracts liquid into and from the soft hand inner shell sealing cavity 56 through the soft hand inner shell flow channel joint 55, thereby adjusting the rigidity of the side surface of the single finger assembly 5.

[0110] The outer finger assembly hydraulic pump fills liquid into the soft hand shell sealing cavity 57 through the soft hand shell flow channel joint 51, so that the single finger assembly 5 bends to achieve grasping, which is used to grasp cylindrical or flat irregular objects.

[0111] By controlling the pressure of the liquid in the sealed cavity 57 of the soft hand outer shell, the bending degree of the fingers and the grasping force can be changed under different water pressure conditions, thereby grasping different objects in different environments; the greater the water pressure in the sealed cavity 56 of the soft hand inner shell, the higher the out-of-plane rigidity of the single finger assembly 5, the higher the grasping force, the smaller the out-of-plane bending of the single finger assembly 5 caused by the viscosity of the water, and the higher the anti-viscosity effect.

[0112] In the embodiment of the present invention, the cavities inside the underwater anti-viscosity soft gripper are filled with liquid, generally pure water, and are hydraulically driven. Several hydraulic pumps adjust the liquid pressure in the soft gripper's cavity in real time according to the underwater environmental pressure in which the soft gripper is located to balance the external water pressure. In addition, by controlling the liquid pressure in the cavity of the underwater anti-viscosity soft gripper, different degrees of finger bending and grasping force can be achieved under different water pressure conditions, thereby achieving stable grasping of different heterogeneous objects in different environments.

[0113] The invention has two configuration grabbing modes, namely, a side-by-side configuration and a cross configuration, so as to realize the grabbing of different types of underwater grab objects and has high anti-viscosity underwater.

[0114] The above-mentioned specific implementation modes are used to explain the present invention rather than to limit the present invention. Any modification, equivalent substitution and change made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A configuration-variable underwater anti-viscosity soft gripper, characterized in that: include: A finger fixing platform (1), one end of which is fixedly connected to the underwater mechanical arm via a flange; Four finger brackets (2) are evenly spaced and arranged along the circumference of the finger fixing platform (1), and one end of each finger bracket (2) is fixedly mounted on the other end of the finger fixing platform (1); Four finger grasping mechanisms, one end of each finger grasping mechanism being movably mounted on the other end of a corresponding finger bracket (2); The telescopic drive mechanism (4) is arranged between the four finger grasping mechanisms. The telescopic drive mechanism (4) comprises a hydraulic cavity assembly and a connecting assembly. The connecting assembly is fixedly connected to the hydraulic cavity assembly. The connecting assembly is also respectively hinged to the upper parts of the four finger grasping mechanisms. The telescopic drive mechanism (4) drives the four finger grasping mechanisms to rotate to form different configuration arrangements.

2. The underwater anti-viscosity soft gripper with variable configuration according to claim 1, characterized in that: Each of the finger gripping mechanisms comprises: A finger connection assembly (3), one end of which is movably mounted on the other end of the corresponding finger bracket (2); The single finger assembly (5) is fixedly mounted on the other end of the finger connection assembly (3).

3. The underwater anti-viscosity soft gripper with variable configuration according to claim 2, characterized in that: The finger connection assembly (3) comprises: The second finger fixing base (32) has a small hole at one end, a slewing bearing is arranged in the small hole, the outer ring of the slewing bearing is interference-fitted in the small hole, and the inner ring of the slewing bearing is interference-fitted with the other end of the finger bracket (2), so that the second finger fixing base (32) is movably mounted on the corresponding finger bracket (2); A first pin hole seat (34) is fixedly mounted on the second finger fixing base (32); One end of the first finger fixing base (31) is bonded and embedded in the other end of the second finger fixing base (32). The first finger fixing base (31) is fixedly connected to the second finger fixing base (32) via a base connecting bolt (33). The other end of the first finger fixing base (31) is provided with a convex-concave interlocking structure. The first finger fixing base (31) is also provided with a hole.

4. The configuration-variable underwater anti-viscosity soft gripper according to claim 2, characterized in that: The single finger assembly (5) comprises: The soft hand shell (52) is provided with a concave-convex interlocking structure and is fixedly connected with the concave-convex interlocking structure of the first finger fixing base (31). The soft hand shell (52) is also provided with a plurality of convex blocks 1 connected along the in-plane direction, and a second hole and a third hole are respectively opened on the convex block 1 close to the first finger fixing base (31); A soft hand inner shell (53), the overall shape of the soft hand inner shell (53) is consistent with that of the soft hand outer shell (52), the soft hand outer shell (52) is sleeved on the outside of the soft hand inner shell (53), the soft hand inner shell (53) is provided with a plurality of groups of convex block groups connected along the in-plane direction, the overall shape of each of the convex block groups is consistent with the corresponding convex block one in the soft hand outer shell (52), each of the convex block groups is sleeved with the corresponding convex block one in the soft hand outer shell (52), each group of convex block groups is provided with a plurality of convex block twos along the out-of-plane direction, and a hole four is also opened on the convex block two close to the first finger fixing base (31); The finger base (54) is sealed and bonded to the bottom of the soft hand inner shell (53), and the finger base (54) and the inner surface of the soft hand inner shell (53) form a soft hand inner shell sealed cavity (56). The finger base (54) is also sealed and bonded to the soft hand outer shell (52), and the finger base (54), the outer surface of the soft hand inner shell (53) and the inner surface of the soft hand outer shell (52) form a soft hand outer shell sealed cavity (57); A soft hand housing flow channel joint (51), one end of which is in communication with hole 2 of the soft hand housing (52), so that the soft hand housing flow channel joint (51) is in communication with the soft hand housing sealing cavity (57); A soft hand inner shell flow channel joint (55), one end of which passes through hole one and hole three and is connected to hole four, so that the soft hand inner shell flow channel joint (55) is connected to the soft hand inner shell sealing cavity (56); An outer finger assembly hydraulic pump connected to the other end of the soft hand housing flow channel connector (51); An inner finger assembly hydraulic pump is connected to the other end of the soft hand inner shell flow channel connector (55); The in-plane direction is a plane parallel to the plane where the finger base (54) is located; the out-of-plane direction is a plane parallel to the plane where the side surface of the soft hand shell (52) is located.

5. The underwater anti-viscosity soft gripper with variable configuration according to claim 1, characterized in that: The hydraulic chamber assembly comprises: The telescopic driving base (43) is a cylindrical hollow cavity with openings at both ends, and a hole five is provided on the side of the telescopic driving base (43); Two soft telescopic sealing chambers (42), one end of each soft telescopic sealing chamber (42) is respectively connected to the two ends of the telescopic driving base (43), the other end of each soft telescopic sealing chamber (42) is sealed, and the telescopic driving base (43) and the two soft telescopic sealing chambers (42) form a telescopic hollow cavity; A telescopic drive mechanism flow channel joint (6), one end of which is connected to a hole 5 of the telescopic drive base (43), so that the telescopic drive mechanism flow channel joint (6) is connected to the telescopic hollow cavity; The telescopic mechanism hydraulic pump, the other end of the telescopic drive mechanism flow channel joint (6) is connected to the telescopic mechanism hydraulic pump.

6. The configuration-variable underwater anti-viscosity soft gripper according to claim 5, characterized in that: The connection component comprises: Two fixing plates (41) are respectively fixedly mounted on one end of the seal of the two flexible telescopic sealing chambers (42); Four second pin hole seats (44), wherein one end of two of the second pin hole seats (44) are respectively and vertically fixedly installed side by side on a corresponding fixing plate (41), and one end of the other two second pin hole seats (44) are respectively and vertically fixedly installed side by side on another fixing plate (41); Four pin hole seat connecting rods (45), one end of each pin hole seat connecting rod (45) is respectively hinged to the other end of the corresponding second pin hole seat (44), the other end of each pin hole seat connecting rod (45) is respectively hinged to the first pin hole seat (34) on the corresponding second finger fixing base (32), and each pin hole seat connecting rod (45) drives the finger connecting assembly (3) to rotate along the circumferential plane of the finger fixing platform (1) through the first pin hole seat (34).

7. The configuration-variable underwater anti-viscosity soft gripper according to claim 6, characterized in that: Also includes: The control system is electrically connected to the four outer finger assembly hydraulic pumps, the four inner finger assembly hydraulic pumps and the telescopic mechanism hydraulic pump respectively.

8. The grasping method applied to the underwater anti-sticky soft grasper according to any one of claims 1 to 7, characterized in that: The grabbing method is carried out according to a cross-configuration grabbing method and a side-by-side configuration grabbing method respectively; The cross-configuration grasping method is to first evacuate the liquid in the soft telescopic sealing cavity (42) so that the finger bases (54) of the four finger grasping mechanisms are arranged in a cross configuration, and then adjust the rigidity of the side of the single finger assembly (5) by adjusting the liquid in the soft hand inner shell sealing cavity (56), and finally fill the soft hand outer shell sealing cavity (57) with liquid to achieve grasping, which is used to grasp spherical irregular objects; The side-by-side configuration grasping method is to first fill the soft telescopic sealing cavity (42) with liquid so that the finger bases (54) of the four finger grasping mechanisms are arranged in a side-by-side configuration, and then adjust the rigidity of the side of the single finger assembly (5) by adjusting the liquid in the soft hand inner shell sealing cavity (56), and finally fill the soft hand outer shell sealing cavity (57) with liquid to achieve grasping, which is used to grasp cylindrical or flat irregular objects; The cross configuration is arranged such that the surfaces of two opposite finger bases (54) among the four finger bases (54) are parallel to each other, and the surfaces of two adjacent finger bases (54) are perpendicular to each other; the side-by-side configuration is arranged such that the surface of each finger base (54) is on the same plane as the surface of one adjacent finger base (54), and is parallel to the surface of another adjacent finger base (54).

9. The underwater anti-stick soft gripper grasping method according to claim 8, characterized in that: The cross configuration grabbing method is specifically: Before the underwater anti-stick soft gripper performs a grasping operation, the telescopic hollow cavity, the soft hand inner shell sealing cavity (56) and the soft hand outer shell sealing cavity (57) are filled with liquid; The telescopic mechanism hydraulic pump continuously draws liquid outward through the telescopic drive mechanism flow channel joint (6), and the soft telescopic sealing cavity (42) contracts to drive the rotation of each finger grasping mechanism until the telescopic hollow cavity is completely contracted, so that the four finger grasping mechanisms are arranged in a cross configuration; The inner finger assembly hydraulic pump fills and extracts liquid into and from the soft hand inner shell sealing cavity (56) through the soft hand inner shell flow channel joint (55), thereby adjusting the rigidity of the side surface of the single finger assembly (5); The outer finger assembly hydraulic pump fills liquid into the soft hand shell sealing cavity (57) through the soft hand shell flow channel joint (51), so that the single finger assembly (5) bends to achieve grasping, which is used to grasp spherical irregular objects.

10. The underwater anti-stick soft gripper grasping method according to claim 9, characterized in that: The side-by-side configuration grabbing method is specifically as follows: Before the underwater anti-stick soft gripper performs a grasping operation, the telescopic hollow cavity, the soft hand inner shell sealing cavity (56) and the soft hand outer shell sealing cavity (57) are filled with liquid; The telescopic mechanism hydraulic pump continuously fills the liquid inward through the telescopic drive mechanism flow channel joint (6), and the expansion of the soft telescopic sealing cavity (42) drives the rotation of each finger grasping mechanism until the telescopic hollow cavity is fully expanded, so that the four finger grasping mechanisms are arranged in a side-by-side configuration; The inner finger assembly hydraulic pump fills and extracts liquid into and from the soft hand inner shell sealing cavity (56) through the soft hand inner shell flow channel joint (55), thereby adjusting the rigidity of the side surface of the single finger assembly (5); The outer finger assembly hydraulic pump fills liquid into the soft hand shell sealing cavity (57) through the soft hand shell flow channel joint (51), so that the single finger assembly (5) bends to achieve grasping, and is used for grasping cylindrical or flat irregular objects.

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