146results about How to "Flexible and accurate control" patented technology

A system and related method for monitoring plant growth conditions is provided, comprising a plurality of detectors (7) and central detector data processing means (1103); each detector (7) being arranged to measure properties indicative of a temperature, a water content, and a nutrient content, of a plant growth substrate; each detector (7) being further arranged to transmit the measured property or properties over a communications link to the central detector data processing means (1103); the central detector data processing means (1103) being arranged to store predefined irrigation data, defining a relationship between plural values for temperature, water content, pH level and / or nutrient content of the plant growth substrate; and plural desired irrigation output values; process the measured properties from each detector (7) to determine calculated properties of the substrate; and provide an output indicative of a desired irrigation input for the growth substrate, based upon measured properties received from the detectors (7) and the predefined irrigation data. A portable detector communications device (1105) for communicating configuration data relating to the detectors (7) may be included in the system.

The invention discloses a vehicle-mounted composite power supply system of an electric vehicle and a control method. Through a voltage and current acquisition circuit, a voltage value and a current value of a motor inverter end, and voltage values of a battery set and a supercapacitor are obtained, and the processed to obtain required power, battery set SOC and supercapacitor SOC, which are used as decision-making input variables of a fuzzy logic control module. According to actual operation working conditions of the electric vehicle, a proper logic threshold value control strategy is formulated and by use of fuzzy control, fuzzification is performed on fixed rule parameters in a logic threshold, so rules are further refined, control thinking is further precise and results are further optimized. Compared with real-time power, the peak value of actual average power and the switching frequency are greatly reduced. By combining the power hysteresis control, the switching frequency of working modes of the system and the output frequency of the battery set are further improved, energy loss, caused by mode switching, of a vehicle-mounted double-energy system is reduced, service lifetime of the battery set is prolonged and efficiency and stability of the system are improved.

The invention provides an air conditioner control method and system on the basis of an environment sensor of a mobile terminal and is applicable to the technical field of air conditioner control. The air conditioner control method includes acquiring current position data of the mobile terminal; acquiring current environment information data by the environment sensor on the mobile terminal when the mobile terminal detected is within a preset position range; controlling an air conditioner into a corresponding operation mode according to the environment information data and preset control rules. Since the mobile terminal is closer to a user, the acquired environment information data of the mobile terminal are more accurate than data acquired by a sensor on the air conditioner, the air conditioner can be more flexibly and accurately controlled according to the environment information data, and amenity in a room of the user is improved.

The invention relates to a speech control method of a cleaning robot. The method comprises the following steps: receiving speech information which is transmitted by a speech interactive terminal; analyzing the speech information so as to generate robot control commands; and transmitting the robot control commands to the cleaning robot, so that the cleaning robot implements corresponding cleaning tasks in accordance with the robot control commands. With the application of the method, the cleaning robot can be dispatched more flexibly.

The invention relates to a dynamic bipolar drive power supply suitable for driving piezoelectric ceramic capacitive load and the like, comprising a signal waveform generating unit, a DC power supply and a signal amplifying and driving unit; wherein, the signal waveform generating unit generates required waveform signals through software, the waveform signals are output to a digital-to-analog conversion board; after digital-to-analog conversion, analog signals are output to an input terminal of a voltage amplifier circuit; the output terminal of the voltage amplifier circuit is connected with the input terminal of a power amplifier circuit; the power amplifier circuit adopts the current follower amplifying form of parallel-push-pull; the output terminal of the power amplifier circuit is connected with the positive electrode of the piezoelectric ceramic load; the negative electrode of the load is earthed. The drive sine frequency of the drive power supply can achieve 20KHz, the output voltage can achieve + / -150V and the output ip-p can achieve 3 ampere. The invention can output such standard waveforms as sine waves, triangular waves, square waves, sawtooth waves and the like, can be added with DC bias, has the characteristics of accurate and flexible control, good dynamic characteristics, little waveform distortion and the like, and can be used for dynamic control and performance test of piezoelectric actuators.

In a plasma processing apparatus comprising an evacuable processing chamber, a first electrode disposed in the processing chamber via an insulating body and a second electrode disposed in the processing chamber to face the first electrode, a central conductor and a peripheral conductor are embedded in a main surface of the first electrode via an insulating material while being separately disposed at an electrode central portion and an electrode peripheral portion, respectively. A first radio frequency leaking unit leaks a first radio frequency power applied to the first electrode from a first radio frequency power supply through at least one of the central conductor and the peripheral conductor by a desired current amount.

The invention relates to a part of a washing machine, in particular to a transmission device of the washing machine. The transmission device comprises a drive shaft, a drive shaft sleeve, a clutch, a stator component and a rotor component, wherein the drive shaft is rotatably arranged in the drive shaft sleeve; the clutch controls the rotation of the drive shaft and the drive shaft sleeve; the stator component is positioned in the rotor component; the rotor component is fixedly connected with one end of the drive shaft through a coupler; the clutch comprises a sliding piece and an electromagnetic coil positioned outside the sliding piece; the sliding piece can be meshed with the external teeth of the drive shaft sleeve in a vertical sliding mode; a meshing part which can be meshed with the sliding piece is arranged at the joint of the rotor component and the drive shaft; and the stator component is provided with a meshing part which can be meshed with the sliding piece. The transmission device has a simple and compact structure, small volume, light weight, low noise and long service life, and is flexibly and accurately controlled, a manufacturing process is simple, pull-in voltageand voltage for keeping pull-in are low, and the coil has low power consumption.

The invention relates to a comprehensive monitoring control system of a gas station and a monitoring control method thereof. An oiling machine is provided with a signal acquisition board, branches of an air-return pipeline are provided with gas flowmeters, the upper part of an oil tank is provided with a pressure sensor, a leakage sensor is arranged on the bottom of the oil tank and an oil conveying pipeline and under the oiling machine respectively, a power supply circuit of an oil-gas post-treatment device of the oil tank is provided with a current transformator, a main board of the oiling machine and the gas flowmeters are connected with the signal acquisition board, the signal acquisition board is connected with a monitoring controller, the pressure sensor, the leakage sensors and the current transformator are connected with the monitoring controller, and the monitoring controller is connected with an upper computer. The monitoring control method comprises the following steps that: 1) the signal acquisition board acquires oil-loading and air-return flow signals; 2) signals of the signal acquisition board, the leakage sensors, the current transformator and the air-return pressure sensor are input into the monitoring controller; and 3) the monitoring controller processes the signals, alarms, and outputs and uploads data. The comprehensive monitoring control system of the gas station and the monitoring control method thereof are suitable for comprehensive monitoring of the gas station, and have the advantages of accurate control as well as good environmental protection and safety guarantee performances.

The invention offers a regenerative optical amplifier enabling voltage to be easily applied to polarizing elements such as Pockels cells, without the need for complicated drive circuitry. An input beam of S-polarized light is reflected by a polarizer 1 and advances to a Pockels cell 2. In the time it takes for the input beam, having once passed through the Pockels cell 2, to be reflected by a reflective mirror 3 and return to the Pockels cell 2, a voltage VP1 causing a 90-degree rotation in the polarization of transmitted light is applied to the Pockels cell 2, and this applied voltage VP1 is maintained. The input beam is converted by the Pockels cell 2 into a P-polarized light pulse which is transmitted by the polarizer. Subsequently, the light pulse is converted from P-polarized light to S-polarized light and back to P-polarized light with each roundtrip of the Pockels cell 2, while passing each time between the reflective mirror 3, laser crystal 4 and reflective mirror 7, so as to be amplified in the resonator formed thereby. The amplified light pulse is extracted by applying a voltage VP2 causing a 90-degree rotation of the polarization of the transmitted light to the Pockels cell 6 to convert the light pulse to S-polarized light which is then reflected out of the resonator by the polarizer 5.

The invention discloses a finger rehabilitation device which comprises far knuckle sleeves matched with far knuckles, middle knuckle rings matched with middle knuckles, near knuckle rings matched with near knuckles and a palm ring matched with a palm. The far knuckle sleeves, the middle knuckle rings and the near knuckle rings are hinged through hinges. The finger rehabilitation device further comprises a control panel which controls movements of the far knuckle sleeves, the middle knuckle rings and the near knuckle rings. The control panel is connected with the far knuckle sleeves, the middle knuckle rings and the near knuckle rings through flexible knuckle connectors which penetrate the palm ring. The finger rehabilitation device is flexible and controllable during operation, simple, and easy to use.

The invention discloses a novel controllable telescopic rod which structurally comprises two sections of hollow telescopic rods, a worm cam, a spherical roller rotating disc, a locking gear, a shaft, a motor, a locating screw and a locking rack switch. The two sections of hollow telescopic rods are nested with each other, the spherical roller rotating disc is arranged on one section of rod through the rotating shaft, the motor is fixed to the other section of rod through the locating screw, and an output shaft of the motor is connected with a worm cam matched with the spherical roller rotating disc. The spherical roller rotating disc is fixedly connected with the locking gear, and the locking rack switch locks the spherical roller rotating disc by being meshed with the locking gear. During internal driving, the spherical roller rotating disc is locked, and the motor drives the worm cam to rotate. During external driving, the spherical roller rotating disc freely rotates, and the worm cam and the spherical roller rotating disc achieve similar movement of the rack and the gear. The novel controllable telescopic rod smoothly extends and retracts, is flexibly and accurately controlled, can achieve switching of internal driving and external driving, and is wide in application range.

The invention relates to a power joint device. The device comprises a joint body, a power device and a measuring device; the measuring device comprises a first angular measuring device, the first angular measuring device comprises a first magnet and a first magnetic field induction circuit, the first magnet is connected with one end of a motor output shaft, and is close to a first motor cover plate, the first magnetic field induction circuit is arranged on the inner side of the first motor cover plate and is close to the first magnet, a motor rotates to drive the motor output shaft to rotate,and further drive the first magnet to rotate, and the first magnetic field induction circuit induces the rotating angle of the first magnet so as to measure the rotating angle of the motor. Through the first magnet and the first magnetic field induction circuit which are in the non-contact coupling manner, measuring of the motor rotating angle is achieved, mechanical friction losses are avoided, simpleness, lightness, thinness and low cost are achieved, compared with an existing integrated type encoder scheme, mechanical structural design complexity is greatly simplified, a magnetic field generated by the magnet is a static magnetic field, the environment interference influence is avoided, and reliability is high.

The invention discloses a rollover movement control method of a multi-joint dolphin robot. A control method and achieving steps of front rollover movements and rear rollover movements of the dolphin robot are provided by performing theoretical analysis and system research on the front rollover movements and the rear rollover movements of the dolphin robot and combining a propulsion mechanism of movements of a dolphin. Due to the fact that the front rollover movements and the rear rollover movements of the dolphin robot belong to pitching movements of the dolphin, first the pitching movements of the dolphin are analyzed and divided into a bending stage and an stretching stage, the bending stage and the stretching stage are respectively analyzed, a calculation formula of a joint turning angle and a movement path of joints during the pitching movements are provided, and movements of pitching joints of the dolphin robot are controlled. The rollover movement control method of the multi-joint dolphin robot can accurately control a pitch angle of the dolphin robot during the movements, and achieves accuracy of pitching movement control of the dolphin robot.

The invention provides a gate drive current charging circuit of a power device and a gate drive control circuit of the power device. The gate drive control circuit separates charge and discharge paths, and uses an adjustable current source to provide charging current for the power device, with more flexible and reliable control mode, which can be applicable to integrated package applications of the power device, especially for depletion-type GaN power transistors. The gate drive current charging circuit is an on-chip adjustable current source with maximum current clamp, and the generated charging current is adjusted by adjusting the voltage value of the reference voltage, the resistance value of the off-chip resistor and the number of strobe current mirror units, so as to ensure more flexible and accurate control of the charging current of the power device. A current control loop is used to realize the maximum current clamping, and a filtering structure is set to eliminate the influence of noise, so as to improve the system reliability. At the same time, when the gate voltage of the power device reaches the logic high level of the gate drive control circuit, the generation of the charging current is stopped, and no additional power consumption is generated. No series resistance is used, so that no gate parasitic inductance is introduced.

The invention discloses a bending and shearing mechanism, which comprises a body. A bending part and a shearing part are arranged on the body; the bending part comprises a servo motor, a transmission mechanism, a bending shaft, a bending inner die, a bending outer die and a bending outer die lifting mechanism; the bending inner die is arranged on the body and provided with a slotted hole through which a metal cutter material passes; the bending outer die is arranged on the bending shaft and driven by the bending outer die lifting mechanism to lift to attach the positive or negative surface of the bending inner die; the servo motor drives the bending outer die through the transmission mechanism to attach a notch of the bending inner die to rotate positively and negatively so as to press and fold the metal cutter material; the shearing part comprises a shearing inner die, a shearing outer die and a shearing part lifting mechanism; the shearing inner die and the shearing outer die are driven by the lifting mechanism to lift; the shearing inner die is axially fixed and provided with a slotted hole through which the metal cutter material passes; the shearing outer die is externally sleeved on the shearing inner die and attached to the orifice of the slotted hole; the shearing outer die is connected with a shearing shaft; and the shearing shaft is driven by the servo motor through the transmission of the transmission mechanism to rotate so as to drive the shearing outer die to rotate the metal cutter material.

The invention discloses a variable clock DDS arbitrary waveform signal source output frequency control method and a realization device. A work clock of a signal source is arranged according to the number of original waveform periodic sampling points and output frequency. Interpolation processing is performed on original waveform data according to the work clock of the signal source so that length of the original data is adjusted. The number of the sampling points in each period is adjusted by adopting a Lagrange interpolation algorithm by aiming at defects of frequency resolution in a conventional DDWS technology so that complex and variable waveforms can be generated and the requirement for resolution can be met. The method can be widely applied to the fields of automobile anti-lock braking, engine control, frequency converters, etc.

A control system on service function of mobile terminals includes: an information read device of a mobile terminal used for reading the End-User's identification information; a site server connecting with the network of the information read device for receiving control information, an operational control server linking with the mobile communication network and the above site server for receiving and executing the order of the mobile terminal. A control method is provided including: 1. reading mobile End-User's identification information, 2. sending the corresponding control information to the site server, 3. the order of control and demand is generated and sent to the operational control server, 4. closing the operation functions of the mobile terminal, 5. the order of free control is generated and delivered to the operational control server, 6. restoring the operation functions of the mobile terminal. This invention has a flexible and accurate control of the mobile terminal operations and function in the specific field.

The invention discloses a detachable electromagnetic edge-pressing drawing die and a control method for edge-pressing force. The detachable electromagnetic edge-pressing drawing die comprises a platedrawing system, an electromagnetic edge-pressing system and an excitation current control system. A female die body in the die is fixed to a lower die seat through fastening screws; a plate is placedin a groove of a limiting plate; a male die body adopts a ladder form, and the male die body, a male die fixing plate and a male die cushion plate are fastened on an upper die seat through fastening screws; and a combined edge-pressing ring is composed of a detachable connecting plate and an edge-pressing ring body. The combined edge-pressing ring is matched with a magnetic ring and fastened by aninner set of fastening bolts and an outer set of fastening bolts which are distributed in a staggered mode in the circumferential direction. An overlap joint connector matched with the combined edge-pressing ring is formed in the inner edge of a magnetic guide ring, and a groove is formed in the upper end face of a fixed ring to store an electromagnetic coil. Accurate control over an excitation current in the electromagnetic coil is achieved in the mode that a designed controllable direct current power supply is adopted to provide the adjustable excitation current to the electromagnetic coil.According to the drawing die, the precise controllable edge-pressing force can be exerted on the flange part of the plate in the drawing process, the connecting plate is detachable, thus the die canbe conveniently replaced, switching response of the electromagnetic force and the edge-pressing force is quick, the production cost can further be reduced, and the production efficiency is improved.

The invention relates to the field of temperature control realized by changing the mixing ratio of two types of fluids with different temperatures, and in particular relates to a liquid constant-temperature control device and a usage method thereof. The liquid constant-temperature control device comprises a heat exchanger (1), an input tube (21) and an output tube (22), and is characterized by also comprising a circulating water tube (3), a one-way valve (4), a circulating water pump (5), a heating water tank (6), a cooling water inlet tube (71), a cooling water outlet tube (72), an adjusting valve (8), a temperature sensor (9) and a controller (10), wherein the one-way valve (4), the circulating water pump (5) and the heating water tank (6) are connected in series on the circulating water tube (3). The usage method for the liquid constant-temperature control device comprises heat exchange, and is characterized by also comprising measuring temperature and controlling temperature. The liquid constant-temperature control device is simple in structure, convenient to use, flexible and accurate in control and wide in application range.

The present invention relates to the technical field of robots, especially to a multifunctional polling robot based on distributed control. The multifunctional polling robot based on distributed control comprises a control module, a cruise module, a motion module, an image collection module, a gas detection module, a soil sampling module, a wireless communication transmitting-receiving module andan upper computer monitoring module. The control module employs an MSP430G2553 single-chip microcomputer, the cruise module employs a RX23T5F523T5ADFM single-chip microcomputer, the RX23T5F523T5ADFM single-chip microcomputer reads image information collected by a CMOS camera in real time through an SCCB communication mode and transmits the position information to the MSP430G2553 single-chip microcomputer through a serial communication mode. An MSP430 processor is taken as a main control core, a RX23T is taken as an auxiliary control system, the distributed control reduces computing errors on data processing and increases data processing precision.

The invention belongs to the technical field of power battery management, and particularly discloses an automobile lithium battery charge balancing method and balancing system. The invention provides a method and a system for realizing balance when a battery pack is in a charge state. In the charging process, two DC (direct current) power supplies are loaded to each single battery for charge, wherein one DC power supply is an external DC power supply loaded at the two ends of the battery pack, and the other DC power supply is a compensation DC power supply loaded at the two ends of each single battery; when charging is started, all DC compensation power supplies are started at full load to output the same compensation current for compensative charge to each single battery; and in the charge process, the compensation current at the two ends of the single battery with a relatively high voltage is reduced until the battery pack reaches a balanced state so as to obtain lower energy consumption, higher efficiency and better effect when balancing difference among the single batteries.

The invention provides a full-automatic shuttlecock serving device which comprises a shuttlecock hitting mechanism and a shuttlecock sending mechanism. The shuttlecock sending mechanism is arranged on the front side of the shuttlecock hitting mechanism. The shuttlecock sending mechanism is used for sequentially sending shuttlecocks to the shuttlecock hitting position through rotation. The shuttlecock hitting mechanism is used for sequentially hitting out the shuttlecocks on the shuttlecock sending mechanism. The defects that an existing shuttlecock serving machine is large in size, not accurate in shuttlecock speed and falling point control, and not high in repeatability and accuracy are overcome; by means of the brand-new shuttlecock hitting mode that shuttlecocks are hit on the inner side, the flexible and accurate control over the shuttlecock speed and falling point can be achieved.

The invention discloses six-station flexible processing equipment and a method for processing a work piece. The processing equipment comprises a turntable seat (7) which is arranged on a fixed base, a rotatable round turntable (8) which is arranged on the turntable seat, as well as a loading and unloading station (1), a face milling station (2), a drilling station (3), a heavy boring station (4), a fine boring station (5) and a tapping station (6) which are arranged around the round turntable, wherein the loading and unloading station (1) is arranged on the round turntable (8), and the face milling station (2), the drilling station (3), the heavy boring station (4), the fine boring station (5) and the tapping station (6) are arranged at the periphery of the round turntable. According to the six-station flexible processing equipment and the method for processing the work piece, multiple manufacturing procedures, such as milling, drilling, boring, chamfering and tapping, can be completed under the once clamping condition, so that the manufacturing procedures are all completed, and a finished product with high product precision and good quality stability is directly obtained. The six-station flexible processing equipment and the method for processing the work piece are particularly suitable for processing large-batch small parts, in particular connecting rod type parts.

The invention belongs to metal powder processing equipment and relates to a device and a method for adopting an electronic reaction beam for making ultrafine metal powder. According to the device, a crucible is arranged in an inner cavity of a vacuum evaporation chamber; a loading device and an electronic gun are arranged on a chamber wall; the vacuum evaporation chamber is communicated with the inner cavity of a vacuum receiving chamber through a pipeline with a vacuum valve; the inner cavities of the vacuum evaporation chamber and the vacuum receiving chamber are both connected with a vacuum pumping system controlled by a controller; a separator is arranged on an air outlet of the vacuum receiving chamber; the electronic gun is connected with a power controller; a circulating cooling device is arranged on each of the vacuum evaporation chamber and the vacuum receiving chamber. According to the method, a metal block is put into the crucible by the loading device, and after the metal block in the crucible is bombarded into gaseous metal by the electronic gun, the gaseous metal is collected by the vacuum receiving chamber and is cooled and separated by the separator, so that the ultrafine metal powder is achieved. The device and the method have the advantages of low energy consumption, high purity, wide application scope and suitability for the preparation of various ultrafine metal powder.

The invention aims to provide a piezoelectric electronic-control fuel injector which comprises a fuel injector body. A boss is arranged in the fuel injector body, a hole is arranged in the middle of the boss, a piezoelectric stack, a sliding fuel drain valve and a return spring of the sliding fuel drain valve are sequentially mounted on the upper side of the boss, a control piston, a return spring of a needle valve and the needle valve are sequentially mounted on the lower side of the boss, a nozzle is mounted outside the needle valve, a needle valve cavity is formed between the needle valve and the nozzle, an injection orifice is arranged at an end of the nozzle, a control chamber is formed between the control piston and the boss, a fuel storage tank and a fuel flowing hole which are communicated with each other are arranged in the sliding fuel drain valve, the fuel flowing hole is communicated with the control chamber via the hole of the boss, and a high-pressure fuel passage and a low-pressure fuel return passage are respectively arranged on the fuel injector body. The piezoelectric electronic-control fuel injector has the advantages that the piezoelectric electronic-control fuel injector is simple in structure, the piezoelectric stack is quick in response and high in driving force, the control freedom degree of the needle valve is high, the fuel charge, the fuel injection time and a fuel injection law can be flexibly and accurately controlled, repeated injection can be implemented, and the emission performance and the fuel economy of a diesel engine can be further improved.

The invention discloses a tunnel lighting regulation and control system and method. The system comprises a plurality of sets of sensing devices, a monitoring device, a main control device and a control device. The sensing devices are matched with the monitoring device for use, so that the control device conducts bright and dark classified regulation and control on lighting lamps of different regions in a tunnel according to the actual vehicle passing information, that is, the brightness of the lighting lamps in the region where a vehicle is located and in the next adjacent region where the vehicle is going to enter is brightened, enough illumination in the running region of the vehicle is guaranteed, and the driving safety is guaranteed; meanwhile, the brightness of the lighting lamps in the regions where the vehicle has passed is darkened, so that the lighting lamps can take a rest appropriately when no vehicle passes through, long-time ongoing high-power illumination is avoided, the service life of the lighting lamps can be prolonged, the replacement frequency is reduced, and the replacement cost and maintenance time cost are saved; the operation energy consumption and maintenance cost of the tunnel are lowered in whole; the regulation and control method is easy to operate, flexible and precise to control and obvious in practical application advantage.

The invention provides a remote control infrared fight model tank with large ratio, wherein wherein the gun port portion is provided with an infrared light launching head, the rotation tower is provided with an infrared light reception module, while the control circuit comprises a remote control receiver, an infrared emitter circuit, an infrared receiving circuit, a chip on board machine, a power amplifier, a servo motor set and a power supply. The model can stimulate the fighting pattern of the existing tanks.

The invention discloses an LED driving chip, a backlight unit, a display panel and a display device. The LED driving chip is connected with an LED, is used for controlling the LED, and comprises a logic control module which is used for receiving a first analog data signal shared by one row or one column of the position where the LED is located and converting the first analog data signal into a second analog data signal for independently controlling the LED. The logic control module comprises a gray scale information coding sub-module which is used for coding a first analog data signal to generate a digital gray scale signal; a gray-scale voltage conversion sub-module which is connected with the gray-scale information coding sub-module and is used for generating a digital output signal according to the digital gray-scale signal; and an output voltage generation sub-module which is connected with the gray-scale voltage conversion sub-module and is used for generating a second analog datasignal according to the digital output signal. The LED driving chip is used for independently controlling the LED, so that a plurality of different AM backlight driving modes are realized, and the control of the LED is more accurate and flexible.

A method and a system for operating a working machine provided with a hydraulic system and an operator control adapted to command actuation of the hydraulic system is provided. The system includes a first control unit and a second control unit for moving an implement on the working machine and / or for steering the working machine. The method includes receiving first information regarding a status of the operator control, and determining at least one hydraulic system control information based on the first information and sending the determined hydraulic system control information to a second control unit which is adapted to control the hydraulic system accordingly.

The invention relates to the field of agriculture and aims to provide a tea single-bud picking manipulator based on soft body driving. The manipulator has the characteristics of simple structure, flexible control and high picking efficiency. According to the technical scheme, the tea single-bud picking manipulator based on soft body driving is characterized in that the manipulator comprises a rack, a clamping jaw arranged in the rack, a motor for driving the clamping claw to rotate, a pneumatic mechanism for driving the clamping jaw to be opened and closed, a sensor, a collection box and a controller; the clamping jaw comprises a rotating shaft fixed to a rotary shaft of the motor, a driving finger fixed to the rotating shaft and a driven finger rotatably positioned on the rotating shaft;the pneumatic mechanism comprises an air pump, an air bag arranged on power arms of the driving finger and the driven finger, and an air transmission pipe enabling the air pump and the air bag to communicate; and the controller is electrically connected with the motor, the air pump and the sensor.