Animal tongue-like soft robot hand

Abstract

The invention relates to an animal tongue-like soft robot hand. The soft robot hand comprises an energy supply module, wherein a tongue-shaped execution mechanism is connected with the energy supply module and comprises an adhesive layer, a semi-closed cavity with an opening end is formed in the adhesive layer, the adhesive layer is in butt joint with the energy supply module through the opening end, the other end of the adhesive layer is of a tongue tip-like structure, and the surface of the adhesive layer is uniformly provided with filiform papilla-like structures; a tongue-like main body structure is arranged in the cavity, a plurality of stretchable rings are arranged on the tongue-like main body structure in a sleeve mode at equal intervals in the axial direction, and the tongue-likemain body structure is connected with the inner wall of the adhesive layer through the stretchable rings; a supporting rib is embedded in the middle of the tongue-like main body structure, a layer ofconnective tissue structure is adhered to each of the two side surfaces along the length direction, and a plurality of rectangular strip-shaped turnover layers which are arranged in parallel are adhered to the outer side surface of the connective tissue structure in the length direction; and transverse muscles are embedded in the two sides of the internal tongue-like main body structure, and a bent rib is arranged between the transverse muscle and the inner wall of the tongue-like main body structure. The soft robot hand has the adhesive function and is wide in application range.

Description

technical field [0001] The invention relates to the technical field of robot hands, in particular to a soft robot hand imitating an animal tongue. Background technique [0002] Traditional industrial grabbing robots have super-redundancy and low stiffness characteristics, and good flexibility and dexterity, but their disadvantages are that they can only be used in structured environments, that is, the grabbing space is limited and the ability to withstand external loads is poor. The work efficiency in product sorting, transmission, etc. is not high, and it is difficult to be widely used in industrial and agricultural production occasions. Contents of the invention [0003] Aiming at the shortcomings in the above-mentioned existing production technology, the applicant provides a soft robotic hand imitating the animal tongue with a reasonable structure, and performs a bionic structure design on the tongue body and its surface microstructure, thereby improving the grasping an...

AI Technical Summary

Problems solved by technology

[0002] Traditional industrial grabbing robots have super-redundancy and low stiffness characteristics, and good flexibility and dexterity, but their disadvantages are that they can only be used in structured environments, that is, the grabbing space is limited and the ability to withstand external loads is poor. The work efficiency in product sorting, transmission, etc. is not high, and it is difficult to be widely used in industrial and agricultural production occasions

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