The invention provides a soft gripper and a robot. The invention relates to the technical field of soft robots. A soft gripper comprises an airflow center, a finger air pipe and a sucker air pipe, wherein the finger air pipe and the sucker air pipe supply air independently. The pneumatic fingers are distributed around the airflow center at intervals; the pneumatic finger comprises finger air chambers arranged at intervals in the length direction of the pneumatic finger, a first air channel communicating with the finger air chambers, a strain layer arranged below the first air channel and a strain limiting layer arranged in the strain layer. The Young modulus of the strain limiting layer material is larger than that of the strain layer material, and the first end of the first gas channel communicates with the finger gas pipe in a sealed mode. The suction cup actuators are arranged on the two sides of the pneumatic finger. The suction cup actuator comprises a suction cup air chamber and a suction cup single body communicated with the suction cup air chamber. The sucker air chamber is hermetically communicated with the sucker air pipe; the sucker monomers are adsorbed on the surface of a grabbed object; the connecting soft film is arranged between the suction cup actuators on the sides of the adjacent pneumatic fingers.
本公开提供了一种软体抓手和机器人。本公开涉及软体机器人技术领域。一种软体抓手,包括气流中枢,包括独立供气的手指气管和吸盘气管;气动手指,相间隔分布在气流中枢的四周;气动手指包括沿其长度方向相间隔设置的手指气室、连通手指气室的第一气体通道、设于第一气体通道下方的应变层及设于应变层内部的应变限制层;应变限制层材料的杨氏模量大于应变层材料的杨氏模量,第一气体通道的第一端与手指气管密封连通;吸盘执行器,设于气动手指的两侧;吸盘执行器包括吸盘气室、与吸盘气室相连通的吸盘单体;吸盘气室与吸盘气管密封连通,吸盘单体用于吸附于被抓物体表面;连接软膜,设于相邻气动手指侧的吸盘执行器之间。
Soft gripper and robot
一种软体抓手和机器人
2025-05-13
Patent
Electronic Resource
Chinese
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