CN115847472A - Pneumatic soft manipulator with pressure sensing function - Google Patents
Pneumatic soft manipulator with pressure sensing function Download PDFInfo
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- CN115847472A CN115847472A CN202211737066.XA CN202211737066A CN115847472A CN 115847472 A CN115847472 A CN 115847472A CN 202211737066 A CN202211737066 A CN 202211737066A CN 115847472 A CN115847472 A CN 115847472A
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Abstract
A pneumatic soft manipulator with a pressure sensing function specifically relates to a pneumatic soft manipulator. The invention solves the problem that the existing manipulator can not be suitable for pressure sensing, self-adaptive grabbing and other works of various planes, curved surfaces or other irregular three-dimensional complex structures. The number of the soft fingers and the number of the flexible pressure sensing units are consistent, one soft finger is arranged on each finger mounting seat of the posture adjusting mechanism, and a group of flexible pressure sensing units are arranged on the clamping side of each soft finger along the length direction of the soft finger; the clamping side of each soft finger is provided with a plurality of flexible pressure sensing elements at intervals along the length direction, the clamping side of each soft finger is provided with a fold structure, an air pressure cavity is arranged in each soft finger, and each soft finger is connected with the connecting seat through a finger base. The invention is used for pressure sensing and self-adaptive grabbing work of various planes, curved surfaces or other irregular three-dimensional complex structures.
Description
Technical Field
The invention belongs to the field of soft mechanical arms, and particularly relates to a pneumatic soft mechanical arm with a pressure sensing function.
Background
In recent years, the related technology of the traditional industrial manipulator tends to mature, the use scene is not limited to the industrial environment any more, and the end effector of many robots directly uses the industrial manipulator at present, but the problems of large volume, poor flexibility, poor interaction capability, poor obstacle crossing capability and the like exist. In the sorting of objects (such as fruits, vegetables, biological tissues and the like) with various shapes and fragile surfaces, the grabbing effect is often unsatisfactory, and when the objects are grabbed by the rigid structure, the objects are often damaged, so that unnecessary economic loss is brought.
Along with the development of novel flexible materials, the research on the soft mechanical arm is gradually developed, the problems of poor adaptability to unstructured environments, poor interactivity and the like are solved by simulating the life habits of animals and utilizing flexible fingers, objects with low surface rigidity, fragility or irregular shapes can be effectively grabbed, and the flexible mechanical arm has great advantages in unknown and complex grabbing tasks.
At present, the technology of a soft manipulator is not mature enough, many problems are not solved yet, further discussion and research are needed, including the aspects of flexible material preparation and forming technology, flexible sensor technology, variable stiffness design and intelligent control technology, and the key problems are mainly reflected in the following aspects: (1) the repeatability positioning precision of the soft finger is poor. Due to the characteristic that the flexible material is easy to deform, the soft finger is easily influenced by environmental conditions to generate passive deformation, and the repeatable positioning precision of the action of the soft finger is influenced. (2) Traditional rigidity manipulator exists not enoughly because of not possessing the compliance, when snatching article such as breakable easy damage, though the drawback of rigidity manipulator can be overcome to general flexible manipulator, because of it does not possess touch perception function, still can't acquire the time varying information who snatchs in-process contact force. (3) The motion control of soft fingers. The soft finger has high degree of freedom, and modeling analysis is mostly carried out on kinematics and dynamics by adopting a segmentation idea at present, but an accurate model is difficult to obtain. Therefore, a software robot combining material, driving, sensing and structure will be an important development trend.
In order to solve the above problems, a soft finger capable of sensing the grabbing pressure is needed, and the manipulator is suitable for pressure sensing, adaptive grabbing and other works of various planes, curved surfaces or other irregular three-dimensional complex structures.
Disclosure of Invention
The invention provides a pneumatic soft manipulator with a pressure sensing function, which aims to solve the problem that the existing manipulator cannot be suitable for pressure sensing, self-adaptive grabbing and other works of various planes, curved surfaces or other irregular three-dimensional complex structures.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the pneumatic soft manipulator with the pressure sensing function comprises at least two soft fingers 2, at least two groups of flexible pressure sensing units 1 and a posture adjusting mechanism 3; the number of the soft fingers 2 is consistent with that of the flexible pressure sensing units 1, one soft finger 2 is arranged on each finger mounting seat 3-2 of the posture adjusting mechanism 3, and a group of flexible pressure sensing units 1 are arranged on the clamping side of each soft finger 2 along the length direction of the soft finger;
each soft finger 2 comprises a plurality of flexible pressure sensing elements 2-1, a plurality of folded structures 2-2, a limiting layer 2-3, an air pressure cavity 2-4, a finger base 2-5 and a connecting seat 2-6; the clamping side of each soft finger 2 is provided with a plurality of flexible pressure sensing elements 2-1 at intervals along the length direction, the clamping side of each soft finger 2 is provided with a fold structure 2-2, an air pressure cavity 2-4 is arranged in each soft finger 2, and each soft finger 2 is connected with a connecting seat 2-6 through a finger base 2-5.
Furthermore, the number of the soft fingers 2 is three, the clamping side of each soft finger 2 is provided with a limiting layer 2-3 along the length direction, and the limiting layers 2-3 can control the bending limit of the soft fingers 2.
Furthermore, each soft finger 2 comprises four flexible pressure sensing elements 2-1 and four fold structures 2-2, the clamping side of the soft finger 2 close to the finger base 2-5 is a plane structure, and the fold structures 2-2 and the flexible pressure sensing elements 2-1 are arranged at intervals along the length direction of the soft finger 2.
Furthermore, the flexible pressure sensing element 2-1 is made of thermoplastic polyurethane as a base material, the carbon nanotube is a conductive material, the soft finger 2 completes a bending action through air pressure driving, the soft finger 2 detects and feeds back information of the gripping force in an actual gripping process through the flexible pressure sensing element 2-1, and transmits a corresponding control signal in real time through a control system.
Furthermore, a plurality of semi-cylindrical section cavities are arranged on the back side of each soft finger 2 at intervals along the length direction of the soft finger, the semi-cylindrical section cavities are communicated with the air pressure cavities 2-4, the finger base 2-5 is provided with an air inlet, and the air inlet is communicated with the air pressure cavities 2-4 of the soft finger 2.
Further, the posture adjusting mechanism 3 comprises a feed screw nut 3-1, at least two finger installation seats 3-2, at least two supporting seats 3-3, a nut seat 3-4, a guide pillar 3-5, a guide sleeve 3-6, a base 3-7, a stepping motor 3-8, a plurality of supports 3-9 and a bottom plate 3-10; the base 3-7 is installed on the bottom plate 3-10 through a plurality of supports 3-9, the stepping motor 3-8 is located on the upper end face of the bottom plate 3-10, an output shaft of the stepping motor adopts a screw rod structure, the output shaft of the stepping motor 3-8 penetrates through the base 3-7 to be sequentially connected with the nut seat 3-4 and the screw rod nut 3-1, at least two flange structures are arranged on the nut seat 3-4 at equal angles, long grooves with equal lengths are formed in each flange structure, one end of each finger installation seat 3-2 is connected with the corresponding long groove of the flange structure in a sliding mode, the other end of each finger installation seat 3-2 is hinged to one end of the supporting seat 3-3, and the other end of the supporting seat 3-3 is hinged to the base 3-7.
Furthermore, the guide sleeve 3-6 is arranged on the upper end face of the base 3-7, the lower part of the guide post 3-5 is positioned in the guide sleeve 3-6, and the upper end of the guide post 3-5 is connected with the nut seat 3-4.
Furthermore, the number of the finger installation seats 3-2, the number of the flange structures and the number of the supporting seats 3-3 are three, and the number of the soft fingers 2 and the number of the flexible pressure sensing units 1 are three.
Furthermore, the three finger installation seats 3-2 are uniformly distributed along the circumferential direction of the base 3-7, and the three supporting seats 3-3 are uniformly distributed along the circumferential direction of the base 3-7.
Furthermore, the number of the support columns 3-9 is three, the bottom plate 3-10 is a circular disc, and the support columns 3-9 are uniformly distributed along the circumferential direction of the bottom plate 3-10.
Compared with the prior art, the invention has the following technical effects:
1. according to the invention, the soft fingers are organically combined with the flexible pressure sensing element, the gripping force information is sensed and fed back in real time, and the posture of the soft fingers is adjusted by utilizing the synergistic effect of the control valve and the posture adjusting mechanism, so that the gripping action closed-loop control of a soft manipulator can be realized, the damage to a target object is reduced to the greatest extent, and stable, intelligent and lossless gripping is realized;
2. the soft finger and the flexible pressure sensing element are made of uniform base materials, thermoplastic polyurethane is used as a main material, the mechanical property is isotropic, and the soft finger and the flexible pressure sensing element have good anti-interference performance; the reliability and the adaptability of the cooperative motion of the structures of all parts under different environments are ensured in the process of bending the soft finger;
3. the soft mechanical hand can adjust the distance and the inclination angle of the soft finger bases according to the shape and the size of the grabbed objects so as to adapt to the difference of the shapes and the sizes of the grabbed objects;
4. the shape, size and flexibility of the soft finger can be changed according to the use requirement, and the thermoplastic polyurethane with better flexibility is used as a raw material, so that the soft finger has better stretchability and compressibility, and is acid-resistant and alkali-resistant, so that the soft finger can be used in special environments such as various acid-base environments, moist environments and the like, and has great advantages in the aspects of severe environment and use reliability;
5. the soft mechanical hand is based on a 3D printing technology and a self-assembly process, the soft finger and the flexible pressure sensing element are both made of thermoplastic polyurethane serving as main materials in a selective laser sintering mode, and the integral forming of a soft finger structure can be realized; the soft mechanical hand has the advantages of simple preparation process, high forming precision and rapid production.
Drawings
FIG. 1 is a perspective view of the overall structure of the pneumatic soft manipulator with pressure sensing function of the present invention;
FIG. 2 is a perspective view of a soft finger 2 according to one embodiment of the present invention;
fig. 3 is a perspective view of the overall structure of the attitude adjusting mechanism 3 in the first embodiment of the invention;
FIG. 4 is a front view of the soft finger 2 (before inflation) according to one embodiment of the present invention;
fig. 5 shows a view of the soft finger 2 in a flexed state (after inflation).
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Referring to fig. 1-5, the pneumatic soft manipulator with pressure sensing function of the embodiment of the invention comprises at least two soft fingers 2, at least two groups of flexible pressure sensing units 1 and a posture adjusting mechanism 3; the number of the soft fingers 2 is consistent with that of the flexible pressure sensing units 1, one soft finger 2 is arranged on each finger mounting seat 3-2 of the posture adjusting mechanism 3, and a group of flexible pressure sensing units 1 are arranged on the clamping side of each soft finger 2 along the length direction of the soft finger;
each soft finger 2 comprises a plurality of flexible pressure sensing elements 2-1, a plurality of fold structures 2-2, a limiting layer 2-3, an air pressure cavity 2-4, a finger base 2-5 and a connecting seat 2-6; the clamping side of each soft finger 2 is provided with a plurality of flexible pressure sensing elements 2-1 at intervals along the length direction, the clamping side of each soft finger 2 is provided with a fold structure 2-2, an air pressure cavity 2-4 is arranged in each soft finger 2, and each soft finger 2 is connected with a connecting seat 2-6 through a finger base 2-5.
The soft finger 2 is a substrate with a cavity inside, a plurality of flexible pressure sensing elements 2-1 are attached to the inner side of the soft finger 2, the soft finger 2 completes bending action under the drive of air pressure, information of grabbing force in the actual grabbing process can be detected and fed back through the flexible pressure sensing elements 2-1, and a control system transmits corresponding control signals in real time.
The flexible pressure sensing unit takes thermoplastic polyurethane as a base material, and the carbon nano tube is a conductive material, so that rapidness and accuracy of information receiving of the sensing unit can be guaranteed, and meanwhile, the working stability of the whole soft manipulator under various environments can be guaranteed.
The invention adjusts the internal pressure of the air pressure cavity 2-4 through the precision control valve, and further controls the gripping force of the soft mechanical hand in the gripping process according to the gripping force information fed back by the flexible pressure sensing element 2-1, thereby ensuring that the gripping force can not exceed the mechanical damage threshold of the target object and achieving the purpose of lossless gripping.
The invention identifies the information of the type, shape, size and the like of the target object by adopting the visual identification technology, and further autonomously calls the damage threshold values corresponding to different target objects, adjusts the posture of the soft finger and sets the maximum grabbing force.
Referring to fig. 4, optionally, the number of the soft fingers 2 is three, and the clamping side of each soft finger 2 is provided with a limiting layer 2-3 along the length direction thereof, and the limiting layers 2-3 can control the bending limit of the soft fingers 2.
Referring to fig. 4 and 5, optionally, each soft finger 2 includes four flexible pressure sensing elements 2-1 and four corrugated structures 2-2, a holding side of the soft finger 2 near the finger base 2-5 is a planar structure, and the corrugated structures 2-2 and the flexible pressure sensing elements 2-1 are arranged at intervals along the length direction of the soft finger 2.
Referring to fig. 4 and 5, optionally, the flexible pressure sensing element 2-1 is made of thermoplastic polyurethane as a base material, the carbon nanotube is made of a conductive material, the soft finger 2 completes a bending action through air pressure driving, and the soft finger 2 detects and feeds back information of the gripping force in an actual gripping process through the flexible pressure sensing element 2-1, and transmits a corresponding control signal in real time through a control system.
Referring to fig. 4 and 5, optionally, the back side of each soft finger 2 is provided with a plurality of semi-cylindrical section cavities at intervals along the length direction thereof, the plurality of semi-cylindrical section cavities are all communicated with the air pressure cavity 2-4, the finger base 2-5 is provided with an air inlet, and the air inlet is communicated with the air pressure cavity 2-4 of the soft finger 2.
The soft finger 2 is provided with a plurality of semi-cylindrical section cavities at intervals, namely, the arc-shaped structure at the outer side is a deformation area, and the abdomen part, namely the clamping side is an undeformable area; the abdomen is the part which is contacted with the object to be grabbed, the material with small deformation and soft texture is required to be used, the gauze is used as a limiting layer and is adhered to the abdomen of the soft finger 2; the flexible pressure sensing elements 2-1 and the fold structures 2-2 are arranged at equal intervals and are adhered to the limiting layer 2-3 on the abdomen of the soft finger; the bottom of the soft finger 2 is connected with a base 2-5, an air inlet on the base 2-5 is connected with an air pipe joint and is communicated with the soft finger cavity through a channel in the base 2-5, so that the transmission of air in the cavity is realized; the base of the soft finger 2 is fixed on a connecting seat 2-6 at the bottom through a screw, and the connecting seat 2-6 is installed on a soft finger installing seat 3-2 in the posture adjusting mechanism 3 by a fastening device.
Referring to fig. 3, optionally, the posture adjusting mechanism 3 comprises a feed screw nut 3-1, at least two finger mounting seats 3-2, at least two supporting seats 3-3, a nut seat 3-4, a guide pillar 3-5, a guide sleeve 3-6, a base 3-7, a stepping motor 3-8, a plurality of support posts 3-9 and a bottom plate 3-10; the base 3-7 is installed on the bottom plate 3-10 through a plurality of supports 3-9, the stepping motor 3-8 is located on the upper end face of the bottom plate 3-10, an output shaft of the stepping motor adopts a screw rod structure, the output shaft of the stepping motor 3-8 penetrates through the base 3-7 to be sequentially connected with the nut seat 3-4 and the screw rod nut 3-1, at least two flange structures are arranged on the nut seat 3-4 at equal angles, long grooves with equal lengths are formed in each flange structure, one end of each finger installation seat 3-2 is connected with the corresponding long groove of the flange structure in a sliding mode, the other end of each finger installation seat 3-2 is hinged to one end of the supporting seat 3-3, and the other end of the supporting seat 3-3 is hinged to the base 3-7.
As shown in fig. 3, a stepping motor 3-8 is fastened on a base 3-7 through a screw, and a motor shaft of the stepping motor adopts a screw rod structure and is matched with a screw rod nut 3-1 through threads; the feed screw nut 3-1 is fastened on the nut seat 3-4 through a screw; the nut seat 3-4 is arranged with three flange structures at equal angles, the side surface is provided with long grooves with equal length, the soft finger mounting seat 3-2 and the supporting seat 3-3 are connected through a fastening device, and the other end of the supporting seat 3-3 is fixed on the flange of the base 3-7 in a hinged mode.
The posture adjusting mechanism 3 of the invention can adjust the state of the distance, the inclination degree and the like of the soft fingers according to the recognized information of the shape, the size, the pressure and the like, thereby realizing the accurate and lossless grabbing of the target objects with different shapes, sizes and shapes.
Referring to fig. 3, optionally, a guide sleeve 3-6 is provided on the upper end surface of the base 3-7, the lower portion of the guide post 3-5 is located inside the guide sleeve 3-6, and the upper end of the guide post 3-5 is connected with the nut seat 3-4.
A group of guide posts 3-5 and guide sleeves 3-6 are arranged between the nut seat 3-4 and the base 3-7, and the purpose is to limit circumferential rotation of the nut seat 3-4 when moving up and down, and prevent the posture adjusting mechanism from being distorted and deformed.
Referring to fig. 3, optionally, the number of the finger mounting seats 3-2, the flange structures and the supporting seats 3-3 is three, and the number of the soft fingers 2 and the flexible pressure sensing units 1 is three.
Referring to fig. 3, optionally, three finger installation seats 3-2 are uniformly distributed along the circumferential direction of the base 3-7, and three support seats 3-3 are uniformly distributed along the circumferential direction of the base 3-7.
Referring to fig. 3, optionally, the number of the pillars 3-9 is three, the bottom plate 3-10 is a disk, and the pillars 3-9 are uniformly arranged along the circumferential direction of the bottom plate 3-10.
Embodiments of the present invention are described in detail below with reference to figures 1-5:
in this embodiment, the technical solution of the present invention is used as a premise for implementation, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
In the embodiment, the soft finger 2 is provided with a flexible pressure sensing element 2-1, a fold structure 2-2 and a limiting layer 2-3, and an air pressure cavity 2-4 is arranged inside the soft finger; the arc structure outside the soft finger 2 is a deformation area, and the abdomen is an undeformable area; the abdomen is the part contacting with the object to be grabbed, and the material with small deformation and soft texture is needed, so in the embodiment, the gauze is used as the limiting layer and is adhered to the abdomen of the soft finger 2; the flexible pressure sensing elements 2-1 and the fold structures 2-2 are arranged at equal intervals and are adhered to the limiting layer 2-3 on the abdomen of the soft finger; the bottom of the soft finger 2 is connected with a base 2-5, an air inlet on the base 2-5 is connected with an air pipe joint and is communicated with the soft finger chamber through a channel in the base 2-5, so that the transmission of air in the chamber is realized; the base of the soft finger 2 is fixed on a connecting seat 2-6 at the bottom through a screw, and the connecting seat 2-6 is installed on a soft finger installing seat 3-2 in the posture adjusting mechanism 3 by a fastening device;
as shown in fig. 3, a stepping motor 3-8 is fastened on a base 3-7 through a screw, an output shaft of the stepping motor adopts a screw structure, and the output shaft is in threaded fit with a screw nut 3-1; the feed screw nut 3-1 is fastened on the nut seat 3-4 through a screw; three flange structures are arranged on the nut seat 3-4 at equal angles, long grooves with equal length are arranged on the side faces of the nut seat, the soft finger installation seat 3-2 is connected with the supporting seat 3-3 through a fastening device, and meanwhile, the other end of the supporting seat 3-3 is fixed on a flange of the base 3-7 in a hinged mode.
When the method is concretely implemented, firstly, the positions of the installation seats 3-2 of the soft fingers in the long grooves in the supporting seats 3-4 are adjusted according to the types, shapes and sizes of objects to be grabbed, and then the distance between the soft fingers is adjusted to adapt to the objects with different sizes; and then according to the related characteristic information of the object to be grabbed, calling the mechanical damage threshold of the object, and setting the range of the grabbing force in the control system.
When an object is grabbed, the flow rate of gas flowing into the chamber 2-4 of each soft finger is controlled by a precision control valve so as to adjust the pressure of the gas in the chamber 2-4; meanwhile, the screw rod of the output shaft drives the feed screw nut 3-1 and the nut seat 3-4 to reciprocate up and down by controlling the rotation direction of the stepping motor 3-8; the nut seat 3-4 moves up and down to change the inclination degree of the soft finger mounting seat 3-2, so that the inclination angle of the bottom of the soft finger is adjusted to adapt to objects (such as spheres, ellipsoids and the like) with different curvatures or different grabbing heights; the inclination angle of the soft finger installation seats 3-2 is controllable, so that when the ball or the ellipsoid is grabbed, the soft finger installation seats 3-2 are inclined outwards to provide enough accommodating space for the ball or the ellipsoid, the grabbing force of the soft fingers 2 on the ball or the ellipsoid is greatly reduced, the three finger installation seats 3-2 are adopted, namely three fingers are adopted for grabbing, in the grabbing process, the grabbing force information of the soft fingers is fed back to the control system in real time by each flexible pressure sensing unit, and the control system regulates the bending deformation and the inclination degree of each soft finger through the cooperation of the precise control valve and the stepping motor, so that the soft mechanical hand is adjusted to be in a proper posture, and safe and reasonable grabbing force is applied, and accurate, stable and lossless grabbing is finally realized.
The working principle of the invention is as follows:
the pneumatic soft manipulator with the pressure sensing function is characterized in that a plurality of soft fingers are arranged on a posture adjusting mechanism to be assembled into a soft manipulator, the initial distance and the inclination degree between the soft fingers are adjusted according to the type and the shape and the size of an object before the object is grabbed, and the maximum grabbing force range is set; in the grabbing process, the grabbing force information of the soft fingers is fed back to the control system in real time by the flexible pressure sensing units, and the control system adjusts the bending deformation and the inclination degree of each soft finger through the synergistic effect of the precise control valve and the stepping motor, so that the soft manipulator is adjusted to a proper posture and keeps reasonable grabbing strength, and accurate, stable and lossless grabbing is realized.
The terms "first", "second", and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A pneumatic soft manipulator with a pressure sensing function comprises at least two soft fingers 2, at least two groups of flexible pressure sensing units 1 and a posture adjusting mechanism 3; the method is characterized in that: the number of the soft fingers 2 is consistent with that of the flexible pressure sensing units 1, one soft finger 2 is arranged on each finger mounting seat 3-2 of the posture adjusting mechanism 3, and a group of flexible pressure sensing units 1 are arranged on the clamping side of each soft finger 2 along the length direction of the soft finger;
each soft finger 2 comprises a plurality of flexible pressure sensing elements 2-1, a plurality of fold structures 2-2, a limiting layer 2-3, an air pressure cavity 2-4, a finger base 2-5 and a connecting seat 2-6; the clamping side of each soft finger 2 is provided with a plurality of flexible pressure sensing elements 2-1 at intervals along the length direction, the clamping side of each soft finger 2 is provided with a fold structure 2-2, an air pressure cavity 2-4 is arranged in each soft finger 2, and each soft finger 2 is connected with a connecting seat 2-6 through a finger base 2-5.
2. The pneumatic soft manipulator with pressure sensing function as claimed in claim 1, wherein: the number of the soft fingers 2 is three, the clamping side of each soft finger 2 is provided with a limiting layer 2-3 along the length direction, and the limiting layers 2-3 can control the bending limit of the soft fingers 2.
3. The pneumatic soft manipulator with pressure sensing function according to claim 1 or 2, characterized in that: each soft finger 2 comprises four flexible pressure sensing elements 2-1 and four fold structures 2-2, the clamping side of the soft finger 2 close to the finger base 2-5 is a plane structure, and the fold structures 2-2 and the flexible pressure sensing elements 2-1 are arranged at intervals along the length direction of the soft finger 2.
4. The pneumatic soft manipulator with pressure sensing function as claimed in claim 3, wherein: the flexible pressure sensing element 2-1 is made of thermoplastic polyurethane as a base material, the carbon nano tube is made of a conductive material, the soft finger 2 completes bending action through air pressure driving, the soft finger 2 detects and feeds back information of gripping force in the actual gripping process through the flexible pressure sensing element 2-1, and corresponding control signals are transmitted in real time through a control system.
5. The pneumatic soft manipulator with pressure sensing function as claimed in claim 3, wherein: the back side of each soft finger 2 is provided with a plurality of semi-cylindrical section cavities at intervals along the length direction, the plurality of semi-cylindrical section cavities are communicated with the air pressure cavities 2-4, the finger base 2-5 is provided with an air inlet, and the air inlet is communicated with the air pressure cavities 2-4 of the soft finger 2.
6. The pneumatic soft manipulator with pressure sensing function according to claim 1, 2 or 5, characterized in that: the posture adjusting mechanism 3 comprises a feed screw nut 3-1, at least two finger installation seats 3-2, at least two supporting seats 3-3, a nut seat 3-4, a guide pillar 3-5, a guide sleeve 3-6, a base 3-7, a stepping motor 3-8, a plurality of supporting columns 3-9 and a bottom plate 3-10; the base 3-7 is installed on the bottom plate 3-10 through a plurality of supports 3-9, the stepping motor 3-8 is located on the upper end face of the bottom plate 3-10, an output shaft of the stepping motor adopts a screw rod structure, the output shaft of the stepping motor 3-8 penetrates through the base 3-7 to be sequentially connected with the nut seat 3-4 and the screw rod nut 3-1, at least two flange structures are arranged on the nut seat 3-4 at equal angles, long grooves with equal lengths are formed in each flange structure, one end of each finger installation seat 3-2 is connected with the corresponding long groove of the flange structure in a sliding mode, the other end of each finger installation seat 3-2 is hinged to one end of the supporting seat 3-3, and the other end of the supporting seat 3-3 is hinged to the base 3-7.
7. The pneumatic soft manipulator with pressure sensing function as claimed in claim 6, wherein: the guide sleeve 3-6 is arranged on the upper end face of the base 3-7, the lower part of the guide post 3-5 is positioned in the guide sleeve 3-6, and the upper end of the guide post 3-5 is connected with the nut seat 3-4.
8. The pneumatic soft manipulator with pressure sensing function according to claim 6 or 7, characterized in that: the number of the finger installation seats 3-2, the number of the flange structures and the number of the supporting seats 3-3 are three, and the number of the soft fingers 2 and the number of the flexible pressure sensing units 1 are three.
9. The pneumatic soft manipulator with pressure sensing function as claimed in claim 8, wherein: the three finger installation seats 3-2 are uniformly distributed along the circumferential direction of the base 3-7, and the three supporting seats 3-3 are uniformly distributed along the circumferential direction of the base 3-7.
10. The pneumatic soft manipulator with pressure sensing function as claimed in claim 6, wherein: the number of the support columns 3-9 is three, the bottom plate 3-10 is a circular disc, and the support columns 3-9 are uniformly distributed along the circumferential direction of the bottom plate 3-10.
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