Bionic small intestine pneumatic flexible manipulator based on particle blocking variable stiffness structure

Abstract

The invention relates to the technical field of soft robots, and discloses a bionic small intestine pneumatic flexible manipulator based on a particle blocking variable stiffness structure, which comprises a cylindrical pneumatic flexible actuator for realizing expansion deformation and a particle blocking variable stiffness layer for realizing stiffness adjustment, the particle blocking variable stiffness layer is located on the inner surface of the cylindrical pneumatic flexible actuator, the cylindrical pneumatic flexible actuator comprises an air pipe, a cylindrical pneumatic flexible actuator body, an upper limiting layer and a lower limiting layer, and a set of inflation cavities are formed in the cylindrical pneumatic flexible actuator body; the particle blocking variable stiffness layer comprises acrylic particles, an upper silica gel film, a lower silica gel main body and an air pipe; according to the bionic small intestine pneumatic flexible manipulator designed by the invention, a particle blocking variable stiffness structure is adopted to endow the flexible manipulator with the capability of grabbing high-position objects and low-position objects, so that the bionic small intestine pneumatic flexible manipulator has better grabbing adaptability and load capacity.

Description

Technical Field

[0001] The invention relates to the technical field of soft robots, and in particular to a bionic small intestine pneumatic flexible manipulator based on a particle-blocking variable-rigidity structure and a preparation method thereof. Background Art

[0002] Rigid robots are known for their high precision, high load and high-speed motion, and are suitable for applications in structured environments. However, when interacting with unstructured environments, rigid robots lack adaptability and safety. In order to overcome these limitations of rigid robots, soft robots made of flexible materials have gradually become a research hotspot in the field of robotics and have developed rapidly. With their unique flexible structure, soft robots have been widely used in medical, military, agricultural and industrial fields.

[0003] Although soft robotics technology has developed rapidly, it still has limitations. Flexible manipulators have excellent performance in flexible operation and human-machine interaction, but existing pneumatic flexible manipulators still have limitations in practical applications. To be precise, most pneumatic flexible manipulators are difficult to have both strong load capacity and good grasping adaptability. When faced with different types of tasks, it is often difficult to achieve ideal grasping effects. Therefore, in view of these limitations of pneumatic flexible manipulators, it is urgent to develop variable stiffness technology suitable for flexible manipulators to achieve stiffness adjustment effects to improve the load capacity and environmental adaptability of flexible manipulators, so as to better meet the needs of different types of tasks.

[0004] The unique structures of many organisms in nature can provide inspiration for the design of soft robots. For example, octopus tentacles quickly adjust local stiffness through the antagonism of muscles and hydraulic regulation of connective tissues, pea tendrils achieve the transformation from flexible winding to rigid support through the dehydration contraction of spiral fibers, and starfish tube feet achieve local stiffness regulation through changes in body fluid pressure and nerve signals. Therefore, studying the structure and mechanism of animals and plants in nature to design bionic variable stiffness soft robots can further broaden the types of soft robots and promote the application of soft robots, which has great scientific research significance and application value. Summary of the invention

[0005] In response to the existing problems of pneumatic flexible manipulators, the main purpose of the present invention is to provide a bionic small intestine pneumatic flexible manipulator based on a particle-blocking variable stiffness structure and a preparation method thereof, which combines a cylindrical pneumatic flexible actuator with a particle-blocking variable stiffness layer to give the flexible manipulator the advantages of adjustable stiffness, good grasping adaptability, and strong load capacity.

[0006] The technical method of the present invention is as follows:

[0007] A bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure, comprising a cylindrical pneumatic flexible actuator for realizing expansion deformation and a particle-blocked variable stiffness layer for realizing stiffness adjustment, the particle-blocked variable stiffness layer being located on the inner surface of the cylindrical pneumatic flexible actuator;

[0008] The cylindrical pneumatic flexible actuator includes an air pipe, a cylindrical pneumatic flexible actuator body, and upper and lower limiting layers. A group of inflation chambers are provided inside the cylindrical pneumatic flexible actuator body. The inflation chambers are connected to an air pump through the air pipe and use the upper and lower limiting layers to determine its expansion direction;

[0009] The particle-blocked variable stiffness layer includes acrylic particles, an upper silicone film, a lower silicone main body, and an air pipe. The acrylic particles are placed in the rectangular chamber of the lower silicone main body and sealed with the upper silicone film. The rectangular chamber of the particle-blocked variable stiffness layer is connected to a vacuum pump through the air pipe.

[0010] Furthermore, a group of the inflation chambers are arranged at equal intervals along the circumferential direction of the cylindrical pneumatic flexible actuator. When the air pump inflates the cylindrical pneumatic flexible actuator through the air pipe, the gas pressurizes the inner wall of the inflation chamber. However, due to the existence of the limiting layer, the cylindrical pneumatic flexible actuator only produces inward radial expansion.

[0011] Furthermore, when no negative pressure is applied to the particle-blocked variable stiffness layer, the gaps between its acrylic particles are larger, the particles have better fluidity, and the overall structural stiffness is smaller; when negative pressure is applied, the gaps between its acrylic particles are smaller, the particles are closely attached together, have better stability, and the overall structural stiffness is larger. By changing the magnitude of the internal pressure of the particle-blocked variable stiffness layer, the adjustment of the overall structural stiffness can be realized.

[0012] Furthermore, the upper inner edge of the upper limiting layer is provided with an upper limiting layer inner edge protrusion, and a group of fan-shaped holes are provided on the upper surface of the upper limiting layer for placing the air pipe, and a group of circular bosses are provided on the lower surface.

[0013] Furthermore, the lower inner edge of the lower limiting layer is provided with a lower limiting layer inner edge protrusion, and a groove for assembling the particle-blocked variable stiffness layer is provided at the lower end of the lower limiting layer, and a group of circular grooves are provided on the upper surface.

[0014] Furthermore, a group of main body grooves are provided on the inner wall of the cylindrical pneumatic flexible actuator body; the main body grooves correspond to the grooves of the lower limiting layer one by one for the installation of the particle-blocked variable stiffness layer.

[0015] Further, a set of upper limiting layer through-hole plates is provided on the lower end edge of the upper limiting layer, and a set of lower limiting layer through-hole plates is provided on the upper end edge of the lower limiting layer. The upper limiting layer through-hole plates and the lower limiting layer through-hole plates correspond one by one, and the upper and lower limiting layers can be assembled by bolt connection.

[0016] A preparation method of a bionic small intestine pneumatic flexible manipulator based on a particle plugging variable stiffness structure includes the following steps:

[0017] S1. According to the preset size, use 3D printing technology to process a first mold for preparing the main body of a cylindrical pneumatic flexible actuator, a second mold for sealing the main body of the cylindrical pneumatic flexible actuator, the upper and lower limiting layers of the cylindrical pneumatic flexible actuator, a third mold for preparing the particle plugging variable stiffness layer, and a fourth mold for sealing the particle plugging variable stiffness layer;

[0018] S2. Prepare a silicone solution, pour the silicone solution into the pre-prepared first mold until the mold is full, place the first mold on a flat surface for room temperature curing, and after curing, take out the main body of the cylindrical pneumatic flexible actuator from the mold; pour the silicone solution into the second mold until the mold is full, place the main body of the cylindrical pneumatic flexible actuator in the second mold for room temperature curing to complete sealing and assemble it with the upper and lower limiting layers, and then a cylindrical pneumatic flexible actuator can be obtained;

[0019] S3. Prepare a silicone solution, pour the silicone solution into the pre-prepared third mold and fourth mold until the molds are full, place the third mold and fourth mold on a flat surface for room temperature curing, and after curing, take out the lower silicone main body and the upper silicone film of the particle plugging variable stiffness layer from the molds respectively. Fill the lower silicone main body with acrylic particles, and then use a silicone adhesive to bond and cure the lower silicone main body filled with acrylic particles and the upper silicone film, and then a particle plugging variable stiffness layer can be obtained;

[0020] S4. Respectively conduct airtightness tests on the cylindrical pneumatic flexible actuator and the particle plugging variable stiffness layer prepared in S2 and S3;

[0021] S5. Use a silicone adhesive to bond and cure the cylindrical pneumatic flexible actuator and the particle plugging variable stiffness layer, and then a bionic small intestine pneumatic flexible manipulator based on a particle plugging variable stiffness structure to be prepared can be obtained.

[0022] Further, the materials of the first mold, the second mold, the third mold, the fourth mold, and the upper and lower limiting layers of the cylindrical pneumatic flexible actuator are all white photosensitive resin.

[0023] Further, the preparation process of the silicone solution in steps S2 and S3 is as follows:

[0024] Mix the two components, namely Dragon Skin 30 silicone solution A and B of Smooth-On company, in a ratio of 1:1 and stir well; place the stirred silicone solution under a negative pressure of -80 kPa for 10 minutes to fully remove the air bubbles in the silicone solution; the room temperature curing time of the silicone solution in the mold is 12 h.

[0025] Furthermore, the diameter of the acrylic particles blocking the variable stiffness layer is larger than the diameter of the trachea to prevent damage to the vacuum pump caused by the suction of the acrylic particles.

[0026] By adopting the above technologies, compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] 1) In the present invention, the cylindrical pneumatic flexible actuator uses an inflation chamber with a relatively small central angle to achieve actuation. Compared with the traditional pneumatic flexible actuator, it can generate a larger expansion deformation under a relatively small inflation pressure.

[0028] 2) Inspired by the structure of the human small intestine, the cylindrical pneumatic flexible actuator imitates the intestinal wall of the small intestine, and the variable stiffness layer blocked by particles imitates the intestinal villi of the small intestine, broadening the types of bionic soft robots.

[0029] 3) The bionic small intestine pneumatic flexible manipulator designed in the present invention based on the particle-blocked variable stiffness structure has good grasping adaptability and strong load capacity, and has the functions of grasping high-posture objects and low-posture objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a three-dimensional structure schematic diagram of the present invention;

[0031] Figure 2 is a cross-sectional view of the main part of the cylindrical pneumatic flexible actuator of the present invention;

[0032] Figure 3 is a three-dimensional structure schematic diagram of the upper restraint layer of the cylindrical pneumatic flexible actuator of the present invention;

[0033] Figure 4 is a three-dimensional structure schematic diagram of the lower restraint layer of the cylindrical pneumatic flexible actuator of the present invention;

[0034] Figure 5 is a cross-sectional view of the particle-blocked variable stiffness layer of the present invention;

[0035] Figure 6 is an actual effect diagram of the present invention for grasping an object;

[0036] In the figure: 1. Cylindrical pneumatic flexible actuator; 2. Cylindrical pneumatic flexible actuator air pipe; 3. Particle-blocked variable stiffness layer; 4. Particle-blocked variable stiffness layer air pipe; 5. Cylindrical pneumatic flexible actuator body; 501. Inflatable chamber; 502. Body groove; 6. Upper limiting layer; 601. Inner edge protrusion of the upper limiting layer; 602. Sector-shaped ring hole; 603. Circular boss; 604. Upper limiting layer through-hole plate; 7. Lower limiting layer; 701. Inner edge protrusion of the lower limiting layer; 702. Groove; 703. Circular groove; 704. Lower limiting layer through-hole plate; 8. Upper silicone film; 9. Lower silicone body; 901. Rectangular boss; 902. Triangular groove; 10. Acrylic particles. Detailed implementation mode

[0037] The present invention will be further described in detail below in conjunction with the specification drawings and specific implementation modes. The specific implementation modes described herein are only used to explain the present invention and are not used to limit the present invention. The scope protected by the present invention is not limited to the described scope.

[0038] On the contrary, the present invention covers any alternatives, modifications, equivalent methods, and solutions made within the essence and scope of the present invention defined by the claims. In order to enable the public to have a better understanding of the present invention, the details of the invention are described in detail below.

[0039] Please refer to Figures 1-6 , a bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure includes a cylindrical pneumatic flexible actuator 1 and a particle-blocked variable stiffness layer 3. The cylindrical pneumatic flexible actuator 1 is used to achieve expansion deformation and provide power for the particle-blocked variable stiffness layer 3. The particle-blocked variable stiffness layer 3 is located inside the cylindrical pneumatic flexible actuator 1 and is used to adjust the local stiffness.

[0040] Specifically, the cylindrical pneumatic flexible actuator 1 includes a cylindrical pneumatic flexible actuator air pipe 2, a cylindrical pneumatic flexible actuator body 5, an upper limiting layer 6, and a lower limiting layer 7. The cylindrical pneumatic flexible actuator body 5 has three uniformly distributed inflatable chambers 501 inside, and the inflatable chambers 501 are connected to an air pump through the air pipe 2.

[0041] The inner edge protrusion 601 of the upper limiting layer and the inner edge protrusion 701 of the lower limiting layer are used to prevent edge sliding during the expansion deformation of the cylindrical pneumatic flexible actuator. The sector-shaped ring hole 602 of the upper limiting layer is used to place the air pipe 2. The body groove 502 of the cylindrical pneumatic flexible actuator and the groove 702 of the lower limiting layer are used to install the particle-blocked variable stiffness layer 3. The circular boss 603 of the upper limiting layer and the circular groove 703 of the lower limiting layer are used for installation positioning. The upper limiting layer through-hole plate 604 and the lower limiting layer through-hole plate 704 can be bolted.

[0042] Specifically, the particle-blocked variable stiffness layer 3 includes a particle-blocked variable stiffness layer air pipe 4, an upper silicone film 8, a lower silicone main body 9, and acrylic particles 10. The acrylic particles 10 are placed inside the lower silicone main body 9, sealed by the upper silicone film 8, and connected to a vacuum pump through the air pipe 4. The rectangular boss 901 on the lower silicone main body 9 is used to adjust the installation position with the cylindrical pneumatic flexible actuator main body groove 502 and the lower limit layer groove 702 according to actual needs without the need for positioning. The triangular groove 902 is used to define the swing range. When no negative pressure is applied to the particle-blocked variable stiffness layer 3, the gaps between its acrylic particles 10 are relatively large, the fluidity is good, and the overall structural stiffness is small. When negative pressure is applied, the gaps between its acrylic particles 10 are small, the particles are closely attached together, with good stability, and the overall structural stiffness is large. By changing the magnitude of the internal pressure of the particle-blocked variable stiffness layer, the adjustment of the overall structural stiffness can be achieved.

[0043] There are two grasping modes for the bionic small intestine pneumatic flexible manipulator based on the particle-blocked variable stiffness structure:

[0044] The first is the grasping of high-position objects:

[0045] Inflate the inflatable chamber 501. The cylindrical pneumatic flexible actuator 1 undergoes expansion deformation and pushes the particle-blocked variable stiffness layer 3 to contact the grasping object. The particle-blocked variable stiffness layer 3 closely adheres to the grasping object, and then apply negative pressure to the particle-blocked variable stiffness layer 3 for shaping and increasing stiffness, thereby achieving a more stable grasp.

[0046] The second is the grasping of low-position objects:

[0047] Apply negative pressure to the particle-blocked variable stiffness layer 3 to fix its shape, inflate the inflatable chamber 501, and the cylindrical pneumatic flexible actuator 1 undergoes expansion deformation to push the particle-blocked variable stiffness layer 3 for grasping.

[0048] When grasping high-position objects, the cylindrical pneumatic flexible actuator 1 plays the role of grasping the object, while the particle-blocked variable stiffness layer 3 plays the role of improving the grasping stability. When grasping low-position objects, the cylindrical pneumatic flexible actuator 1 plays the role of providing power for the particle-blocked variable stiffness layer 3, and the particle-blocked variable stiffness layer 3 serves as the grasping execution element.

[0049] A preparation method for a bionic small intestine pneumatic flexible manipulator based on the particle-blocked variable stiffness structure, the specific method is as follows:

[0050] The outer diameter of the preset cylindrical pneumatic flexible actuator body 5 is 120 mm, the inner diameter is 90 mm, the central angle of the inflation chamber 501 is 60°, the wall thickness of the chamber is 2 mm, and the width of the groove 502 for installing the particle blocking variable stiffness layer 3 is 3 mm; the length, width and height of the particle blocking variable stiffness layer 3 are 70 mm×56.5 mm×8 mm, the length, width and height of the upper silicone film 8 are 70 mm×35 mm×1 mm, the wall thickness of the lower silicone body 9 is 1 mm, the length, width and height of the rectangular boss 901 are 70 mm×5 mm×3 mm, and the angle of the triangular groove 902 is 60°.

[0051] S1. According to the preset size, the mold 1 for preparing the cylindrical pneumatic flexible actuator body 5, the mold 2 for sealing the cylindrical pneumatic flexible actuator body 5, the upper limiting layer 6 and the lower limiting layer 7 of the cylindrical pneumatic flexible actuator 1, the mold 3 for preparing the particle blocking variable stiffness layer 3 and the mold 4 for sealing the particle blocking variable stiffness layer 3 are processed by 3D printing technology. The materials used in 3D printing are all white photosensitive resin;

[0052] S2. Mix the two components A and B of Dragon Skin 30 silicone solution of Smooth-On in a ratio of 1:1 and stir them thoroughly. Place the stirred silicone solution under negative pressure of -80kPa for 10 minutes to fully remove the bubbles in the silicone solution. The silicone solution solidifies at room temperature in the mold for 12 hours.

[0053] S3, fill the pre-prepared mold 1 with the silicone solution, and perform room temperature curing. After the curing is completed, take out the cylindrical pneumatic flexible actuator body 5 from the mold; fill the mold 2 with the silicone solution, place the cylindrical pneumatic flexible actuator body 5 in the mold 2 for room temperature curing, complete the sealing, and assemble with the upper limiting layer 6 and the lower limiting layer 7, so as to obtain the cylindrical pneumatic flexible actuator 1;

[0054] S4, fill the pre-prepared molds 3 and 4 with the silicone solution, and perform room temperature curing. After the curing is completed, take out the upper silicone film 8 and the lower silicone body 9 of the particle-blocked variable stiffness layer 3 from the molds respectively, fill the lower silicone body 9 with acrylic particles 10 with a diameter of 2 mm, and then use a silicone adhesive to bond the lower silicone body 9 filled with acrylic particles 10 and the upper silicone film 8, and cure at room temperature to obtain the particle-blocked variable stiffness layer 3;

[0055] S5, performing air tightness tests on the cylindrical pneumatic flexible actuator 1 and the particle-clogging variable stiffness layer 3 prepared in S3 and S5 respectively;

[0056] S6. Use a silicone adhesive to bond the cylindrical pneumatic flexible actuator 1 and the particle-jammed variable stiffness layer 3, and cure at room temperature to obtain a bionic small intestine pneumatic flexible manipulator based on the particle-jammed variable stiffness structure to be prepared.

[0057] In this embodiment, by combining the cylindrical pneumatic flexible actuator 1 and the particle-jammed variable stiffness layer 3, imitating the movement behaviors of the small intestine intestinal wall and small intestine villi, a bionic small intestine pneumatic flexible manipulator based on the particle-jammed variable stiffness structure is designed, which has the advantages of adjustable local stiffness, good grasping adaptability, strong load capacity, etc., and can grasp high-posture objects and low-posture objects.

[0058] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included within the scope of the protection of the rights of the present invention.

Claims

1. A bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure, characterized in that, It includes a cylindrical pneumatic flexible actuator (1) for realizing expansion deformation and a particle jamming variable stiffness layer (3) arranged inside the cylindrical pneumatic flexible actuator for realizing stiffness adjustment; The cylindrical pneumatic flexible actuator (1) includes a cylindrical pneumatic flexible actuator body (5) and upper and lower limiting layers (6) and (7) arranged above and below the cylindrical pneumatic flexible actuator body (5); The particle jamming variable stiffness layer includes a lower silicone main body (9), acrylic particles (10), and an upper silicone film (8); the acrylic particles (10) are arranged in the lower silicone main body (9) and sealed with the upper silicone film (8); Pneumatic devices are respectively connected to the cylindrical pneumatic flexible actuator (1) and the particle jamming variable stiffness layer (3); Adjust the pressure of the internal chamber of the cylindrical pneumatic flexible actuator (1) to achieve the expansion deformation effect, imitate the movement behavior of the small intestinal wall, and drive the swinging behavior of the particle jamming variable stiffness layer; Adjust the internal pressure of the particle jamming variable stiffness layer (3) to achieve the stiffness adjustment effect and imitate the movement behavior of the small intestinal villi.

2. The bionic small intestine pneumatic flexible manipulator based on the particle-blocked variable stiffness structure according to claim 1, wherein The cross-section of the cylindrical pneumatic flexible actuator body (5) is annular. A set of inflatable chambers (501) are arranged inside the cylindrical pneumatic flexible actuator body (5) and sealed by a sealing layer. One end of the air pipe is connected to the inflatable chamber (501), and the other end is connected to an air pump; a set of main body grooves (502) are arranged on the inner wall of the cylindrical pneumatic flexible actuator body (5).

3. The bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure according to claim 1, characterized in that, The lower silicone main body (9) is provided with a rectangular chamber for assembling acrylic particles and sealed with the upper silicone film. One end of the air pipe is connected to the rectangular chamber, and the other end is connected to a vacuum pump; a rectangular boss (901) and a set of triangular grooves (902) are arranged on one side of the lower silicone main body (9). The rectangular boss (901) is used for limiting the installation of the particle jamming variable stiffness layer, and the triangular grooves (902) are used for defining the swinging range.

4. The bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure according to claim 1, wherein An upper limiting layer inner edge protrusion (601) is arranged on the upper inner edge of the upper limiting layer (6). A set of fan-shaped holes (602) are arranged on the upper surface of the upper limiting layer (6), and a set of circular bosses (603) are arranged on the lower surface.

5. The bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure according to claim 1, characterized in that, A lower limiting layer inner edge protrusion (701) is arranged on the lower inner edge of the lower limiting layer (7). A groove (702) for assembling the particle jamming variable stiffness layer (3) is arranged at the lower end of the lower limiting layer (7), and a set of circular grooves (703) are arranged on the upper surface.

6. The bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure according to claim 1, wherein, A set of upper limiting layer through-hole plates (604) are arranged on the lower edge of the upper limiting layer (6), and a set of lower limiting layer through-hole plates (704) are arranged on the upper edge of the lower limiting layer (7), and the upper limiting layer through-hole plates (604) and the lower limiting layer through-hole plates (704) correspond to each other one by one.

7. A preparation method of a bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure, characterized in that, It includes the following steps: S1. According to the preset dimensions, use 3D printing technology to process Mold 1 for preparing the cylindrical pneumatic flexible actuator body, Mold 2 for sealing the cylindrical pneumatic flexible actuator body, the upper and lower restraint layers of the cylindrical pneumatic flexible actuator, Mold 3 for preparing the particle-blocked variable stiffness layer, and Mold 4 for sealing the particle-blocked variable stiffness layer; S2. Prepare the silicone solution. Pour the silicone solution into the pre-prepared Mold 1 until Mold 1 is full of silicone. Place Mold 1 on a flat surface for room-temperature curing. After curing is completed, take out the cylindrical pneumatic flexible actuator body from the mold. Pour the silicone solution into Mold 2 until Mold 2 is full of silicone. Place the cylindrical pneumatic flexible actuator body in Mold 2 for room-temperature curing to complete the sealing and assemble it with the upper and lower restraint layers, and then a cylindrical pneumatic flexible actuator can be obtained; S3. Prepare the silicone solution. Pour the silicone solution into the pre-prepared Mold 3 and Mold 4 until the molds are full of silicone. Place Mold 3 and Mold 4 on a flat surface for room-temperature curing. After curing is completed, take out the lower silicone main body and the upper silicone film of the particle-blocked variable stiffness layer from the molds respectively. Fill the lower silicone main body with acrylic particles, and then use silicone adhesive to bond and cure the lower silicone main body filled with acrylic particles and the upper silicone film, and then the particle-blocked variable stiffness layer can be obtained; S4. Conduct airtightness tests on the cylindrical pneumatic flexible actuator and the particle-blocked variable stiffness layer prepared in S2 and S3 respectively; S5. Use silicone adhesive to bond and cure the cylindrical pneumatic flexible actuator and the particle-blocked variable stiffness layer, and then a bionic small intestine pneumatic flexible manipulator based on the particle-blocked variable stiffness structure to be prepared can be obtained.

8. The preparation method of a bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure according to claim 7, characterized in that The materials of Mold 1, Mold 2, Mold 3, Mold 4 and the upper and lower restraint layers of the cylindrical pneumatic flexible actuator in step S1 are all white photosensitive resin.

9. The preparation method of a bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure according to claim 7, characterized in that The preparation process of the silicone solution in steps S2 and S3 is as follows: Mix the two components of silicone solution A and B in a ratio of 1:1 and stir well. Place the stirred silicone solution under a negative pressure condition of -80 kPa for 10 minutes to fully remove the bubbles in the silicone solution. The room-temperature curing time of the silicone solution in the mold is 12 h.

10. The preparation method of a bionic small intestine pneumatic flexible manipulator based on a particle-blocked variable stiffness structure according to claim 7, characterized in that The diameter of the acrylic particles in step S3 is larger than the trachea diameter to prevent damage to the vacuum pump caused by the suction of the acrylic particles.

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