QUICK RELEASE TYPE SOFT ROBOT GRIPPER STRUCTURE

摘要

The present invention relates to a quick release type soft robot gripper structure, comprising: a linear moving mechanism comprising two support arms capable of rotatably opening and closing relative to each other. Tail ends of the support arms are rotatably connected to soft structures by means of connecting assemblies. The structure of the soft structure comprises: a flexible body which is finger-shaped and provided with scale portions uniformly arranged in a tooth shape on one side surface thereof. A plurality of shape-memory alloy (SMA) bodies penetrate through the scale portions. The plurality of SMA bodies are divergently and symmetrically distributed from the finger root to the fingertip of the flexible body, and are converged integrally at the finger root and connected to an energy supply module provided on the end surface of the flexible body. According to the present invention, symmetrically distributed SMA artificial muscles are used to drive the soft structures to turn outward and retract inward, so as to grip and release an article, the gripping efficiency is high, and the gripping force is stable; the present invention has wide application prospects in industries such as agriculture, light industry, and e-commerce.