CN114770599B - Experimental device for measuring bearing capacity and clamping force of fin structure flexible manipulator - Google Patents

Abstract

The invention discloses an experimental device for measuring the bearing capacity and clamping force of a flexible manipulator with a fin structure. It includes a device frame, a bottom plate, a fin structure flexible manipulator and a sliding component; the bottom plate is vertically fixed and installed on one side of the device frame, the sliding component is installed horizontally on the upper part of the device frame and is fixedly connected to the bottom plate, and the manipulator is parallel to the direction of the bottom plate It is fixedly installed on the sliding component, and the component to be tested is set between the base plate and the manipulator, and is connected to the base plate and the manipulator at the same time. In the process of using this experimental device to measure the bearing capacity, the manipulator is loaded only by increasing the mass of water in the water bottle, making the loading process simple and easy and greatly reducing the experimental cost; in the process of using this experimental device to measure the bearing capacity, the slider is used to adjust The displacement of the manipulator can be used to obtain the clamping force value of the manipulator under different displacements, making the measurement process easy to operate and the measurement results more accurate.

Description

Experimental device for measuring the load-bearing capacity and gripping force of a fin-structured flexible manipulator

Technical field

The invention relates to a measuring device in the field of manipulator carrying capacity, and specifically to an experimental device for measuring the carrying capacity and clamping force of a flexible manipulator with a fin structure.

Background technique

With the advancement of science and technology and the increase of labor prices, the robot industry has developed rapidly. Compared with traditional rigid manipulators, flexible manipulators have great advantages in quickly grabbing fragile objects. On the basis of being subjected to the same external force, the deformation amount of fin-structured manipulators is greater than that of traditional flexible manipulators. It has bright development prospects and an extremely wide range of applications and methods.

In order to achieve the goal of wider application of fin-structured flexible manipulators, it is necessary to verify the performance of manipulators under different preconditions and design parameters to determine the optimal design solution. Currently, the measurement devices for the load-bearing capacity of fin-structured flexible manipulators are generally high in cost, complex and inefficient, and cannot provide quantitative indicators for the load-bearing capacity of flexible manipulators. It is difficult to meet the growing demand for experimental verification of the load-bearing capacity of fin-structured flexible manipulators.

Contents of the invention

In order to solve the above problems, the purpose of the present invention is to provide an experimental device that can be used to measure the load-bearing capacity of a flexible manipulator with a fin structure. The load-bearing capacity of the manipulator can be increased only by increasing the mass of water in the water bottle, thereby obtaining the maximum load-bearing capacity of the manipulator. .

The technical solution adopted by the present invention is:

1. An experimental device for measuring the bearing capacity and clamping force of a fin-structured flexible manipulator:

It includes a device frame, a bottom plate, a fin structure flexible manipulator and a sliding component; the bottom plate is vertically fixed and installed on one side of the device frame, the sliding component is horizontally installed on the upper part of the device frame, and the sliding component is fixedly connected to the bottom plate , the fin structure flexible manipulator is fixedly installed on the sliding component parallel to the direction of the bottom plate, the component to be tested is set between the bottom plate and the fin structure flexible manipulator, and the component to be tested is simultaneously connected to the bottom plate and the fin structure flexible manipulator.

The sliding assembly includes a manipulator clamp, a slider, a locking assembly, a driving assembly, a rack, a lower cover, a bracket and a dovetail slide bottom plate; one end of the bracket is fixedly connected to the device frame, and the other end of the bracket passes through a dovetail slide. The bottom plate of the table is fixedly connected to the bottom plate. The lower cover is fixedly installed on the lower part of the bracket parallel to the bottom surface of the bracket. Two convex rails parallel to the lower cover are installed on the bottom surface of the lower cover. The rack is fixedly installed on the lower cover. on the top, and just stuck in the strip groove formed between the two convex rails; the slider is arranged under the lower cover and is movably connected with the lower cover; there are two parallel holes on both sides of the top of the slider. The strip groove of the rack, the slider is slidingly connected to the outside of the two convex rails of the lower cover through its two strip grooves; the two sides of the slider that are parallel to the rack are facing each other. Each is provided with an identical through hole, and the two through holes of the drive assembly are passed through the slide block and are movably connected to the slide block, and the drive assembly is engaged and connected with the rack at the same time, and the locking assembly is fixedly installed on a bar of the slide block. In the shaped groove, the fin structure flexible manipulator is fixedly installed on the lower part of the slider through the manipulator clamp;

The driving assembly is mainly composed of a gear shaft, a shaft sleeve, a washer and a handle. The sleeve, the washer and the handle are sequentially contacted and connected coaxially and set on one end of the gear shaft, and the handle is arranged at the end of one end of the gear shaft. The drive assembly is movably connected to the slide block through a sleeve, and the drive assembly is meshed with the rack through a gear shaft; the other end of the gear shaft passes through the two through holes opened by the slide block in turn, and the gear shaft is connected to the slide block. The blocks do not touch.

The locking assembly is mainly composed of a locking nut, a wrench and a locking bolt. The locking nut and the wrench are coaxially mounted on the locking bolt. A threaded groove is provided in the strip groove of the slider away from the handle. The component is fixed in the strip groove of the slider away from the handle, and the locking component is engaged and connected with the threaded groove through the locking bolt.

The component to be tested is a loading component or a pressure component, and the loading component is arranged parallel to the direction of the bottom plate between the bottom plate and the fin structure flexible manipulator; the loading component includes a grabber, a ring hook, a shell and a water bottle; The water bottle is fixedly connected to one end of the casing, the grabber is fixedly connected to the other end of the casing through a ring hook, and the loading component is in contact with the bottom plate and the fin structure flexible manipulator simultaneously through the grabber.

The pressure component includes a pressure sensor, a sensor holder, a DC regulated power supply and an oscilloscope; the pressure sensor is fixedly installed on the base plate through the sensor holder, and the pressure sensor is electrically connected to the DC regulated power supply and the oscilloscope at the same time.

The fin-structure flexible manipulator is a fin-ray structure as a whole, and a plurality of strip-shaped soft pads evenly spaced horizontally are installed on the side of the fin-ray structure flexible manipulator in contact with the grasped object.

The lower cover is marked with scales in a direction perpendicular to the bottom plate.

2. Experimental method for measuring bearing capacity:

S1: Use a tension meter to measure the load that the fin-structured flexible manipulator can withstand;

S2: Use the slider to control the fin structure flexible manipulator to move horizontally along the lower cover, so that the fin structure flexible manipulator is at a certain scale on the sliding component, and can just clamp the grab object in the loading component between the bottom plate and the fin structure between flexible manipulators;

S3: Add the same mass of water to the water bottle multiple times;

S4: When the grabbed object just falls off, stop adding water, and record the total amount of water added in the water bottle to measure the bearing capacity of the fin-structured flexible manipulator;

S5: Change the hardness of the fin-structure flexible manipulator, repeat steps S1-S4, and record the bearing capacity of the fin-structure flexible manipulator with different hardnesses measured at the same position.

3. Experimental method for measuring clamping force:

S1: Before starting the experiment, use standard weights to calibrate the pressure sensor, and obtain the relationship between the clamping force and voltage of the pressure sensor;

S2: First, use the slider to drive the fin-structure flexible manipulator to move to the initial position, so that the fin-structure flexible manipulator is in contact with the pressure sensor, and the fin-structure flexible manipulator does not exert a clamping force on the pressure sensor, and record the position at this time; Then move the fin structure flexible manipulator to gradually squeeze the pressure sensor, record the voltage displayed on the oscilloscope every time it moves the same displacement, repeat the above steps at least three times, and then based on the clamping force and voltage of the pressure sensor obtained in step S1 The relationship between the two is calculated to obtain the clamping force; finally, the relationship between the clamping force and the displacement is drawn by combining the experimental data of the displacement and the clamping force;

S3: Fit the relationship curve between the clamping force and the displacement obtained in S2, and obtain the relationship between the clamping force and the displacement of the fin-structure flexible manipulator.

The beneficial effects of the present invention are:

The experimental device for measuring the bearing capacity of a flexible manipulator of the present invention utilizes increasing the mass of water in a water bottle to load the manipulator. Compared with the traditional bearing capacity measuring device, the cost is greatly reduced and the raw materials required for the experiment are reduced. It is easy to obtain, and loading by a water bottle can ensure that the force direction of the flexible manipulator is always vertical.

The experimental device for measuring the bearing capacity of a flexible manipulator according to the present invention can move the flexible manipulator through a sliding assembly with a scale, and control the degree of deformation of the manipulator by controlling the displacement of the manipulator, so that the deformation of the manipulator under different degrees of deformation can be measured. Carrying capacity.

The experimental device for measuring the bearing capacity of a flexible manipulator of the present invention has a simple structure, an intuitive and clear principle, a simple and convenient installation and operation process, and can effectively improve the experimental efficiency.

The experimental device for measuring the clamping force of a flexible manipulator according to the present invention calibrates the relationship between the pressure on the pressure sensor and the sensor voltage reading through preliminary experiments, and finally achieves the acquisition of the relationship between the pressure on the pressure sensor and the displacement of the manipulator. Compared with the traditional clamping force experimental device, the clamping force can be quantified, that is, the clamping force can be controlled by the displacement of the manipulator in subsequent experiments.

The experimental device for measuring the clamping force of a flexible manipulator of the present invention uses a sliding component with a scale to realize the movement of the manipulator, can accurately control the displacement of the manipulator, and can realize quantitative control of the grasping displacement of the manipulator.

Description of the drawings

Figure 1 is a schematic structural diagram of the experimental device for measuring the bearing capacity of the manipulator;

Figure 2 is a schematic structural diagram of the sliding component;

Figure 3 is a schematic diagram of the loading component structure;

Figure 4 is a schematic structural diagram of the experimental device for measuring the gripping force of the manipulator.

Shown in the picture: 1. Device frame; 2. Base plate; 3. Flexible manipulator with fin structure; 4. Sliding component; 4-1. Manipulator clamp; 4-2. Slider; 4-3. Locking nut; 4- 4. Wrench; 4-5. Locking bolt; 4-6. Gear shaft; 4-7. Bushing; 4-8. Washer; 4-9. Handle; 4-10. Rack; 4-11. Lower cover ; 4-12. Bracket; 4-13. Dovetail slide bottom plate; 5. Loading component; 5-1. Grab object; 5-2. Ring hook; 5-3. Shell; 5-4. Water bottle; 6 , Clamping force experimental device frame; 7. Pressure sensor; 8. Sensor support; 9. DC regulated power supply; 10. Oscilloscope.

Detailed ways

The experimental device for measuring the bearing capacity and clamping force of a flexible manipulator with a fin structure provided by the present invention will be described below in conjunction with the accompanying drawings.

As shown in Figure 1, the present invention includes a device frame 1, a base plate 2, a fin-structured flexible manipulator 3 and a sliding component 4; the base plate 2 is vertically fixed and installed on one side of the device frame 1, and the sliding component 4 is installed horizontally in the device frame. 1, and the sliding component 4 is fixedly connected to the base plate 2. The fin structure flexible manipulator 3 is fixedly installed on the sliding component 4 parallel to the direction of the base plate 2. The component to be tested is set between the base plate 2 and the fin structure flexible manipulator 3. , the components to be tested are simultaneously connected to the bottom plate 2 and the fin structure flexible manipulator 3.

Specifically, the device frame 1 is composed of fifteen square steel tubes. The displacement of the bottom plate 2 in the horizontal direction and the rotation around the vertical axis are fixed by four square steel tubes on the side of the frame 1. The displacement in the vertical direction and the rotation around the horizontal axis are fixed. It is fixed by two square steel tubes at the bottom of frame 1 under the action of gravity.

As shown in Figure 2, the sliding assembly 4 includes a manipulator clamp 4-1, a slider 4-2, a locking assembly, a driving assembly, a rack 4-10, a lower cover 4-11, a bracket 4-12 and a dovetail slide bottom plate 4 -13; One end of the bracket 4-12 is fixedly connected to the device frame 1, the other end of the bracket 4-12 is fixedly connected to the bottom plate 2 through the dovetail slide bottom plate 4-13, and the lower cover 4-11 is parallel to the bottom surface of the bracket 4-12 Fixedly installed on the lower part of the bracket 4-12, two convex rails parallel to the lower cover 4-11 are installed at intervals on the bottom surface of the lower cover 4-11. The rack 4-10 is fixedly installed on the lower cover 4-11, and just snaps In the strip groove formed between the two convex rails; the slider 4-2 is arranged below the lower cover 4-11 and is movably connected to the lower cover 4-11; there are openings on both sides of the top of the slider 4-2 A bar-shaped groove parallel to the rack 4-10, the slider 4-2 is slidingly connected to the outside of the two convex rails of the lower cover 4-11 through its own two bar-shaped grooves; Two identical through holes are opened on two sides parallel to the rack 4-10, and the drive assembly passes through the two through holes of the slider 4-2 and is movably connected to the slider 4-2, and the drive assembly simultaneously Engaged and connected with the rack 4-10, the locking component is fixedly installed in a strip groove of the slider 4-2, and the fin structure flexible manipulator 3 is fixedly installed at the lower part of the slider 4-2 through the manipulator clamp 4-1;

The drive assembly is mainly composed of gear shaft 4-6, bushing 4-7, washer 4-8 and handle 4-9. The bushing 4-7, washer 4-8 and handle 4-9 are sequentially contacted and connected to the coaxial set on the gear. One end of the shaft 4-6, and the handle 4-9 is set at the end of one end of the gear shaft 4-6, the driving assembly is movably connected to the slider 4-2 through the sleeve 4-7, and the driving assembly passes through the gear shaft 4-6 It is meshed with the rack 4-10; the other end of the gear shaft 4-6 passes through the two through holes opened by the slider 4-2 in sequence, and the gear shaft 4-6 does not contact the slider 4-2.

The locking assembly is mainly composed of a locking nut 4-3, a wrench 4-4 and a locking bolt 4-5. The locking nut 4-3 and the wrench 4-4 are coaxially mounted on the locking bolt 4-5, and the slider 4-2 is away from A second threaded groove is provided in the strip groove of the handle 4-9, and the locking component is fixed in the strip groove of the slider 4-2 away from the handle 4-9, and is engaged with the second threaded groove through the locking bolt 4-5. . Turn the wrench 4-4 so that the locking bolt 4-5 continues to advance along the second threaded groove, pushing the side of the slider 4-2 with the second threaded groove away from the corresponding convex track, so that the slider 4-2 2 The other side is continuously pressed against the corresponding convex track, thereby locking the slider 4-2 in a fixed position.

The component to be tested is the loading component 5 or the pressure component. The loading component 5 is arranged parallel to the direction of the bottom plate 2 between the bottom plate 2 and the fin structure flexible manipulator 3; as shown in Figure 3, the loading component 5 includes a grabber 5-1, Ring hook 5-2, shell 5-3 and water bottle 5-4; water bottle 5-4 is fixedly connected to one end of the shell 5-3, and grabber 5-1 is fixedly connected to the shell 5 through the ring hook 5-2 At the other end of -3, the loading component 5 is in contact with the base plate 2 and the fin structure flexible manipulator 3 at the same time through the grabber 5-1. Specifically, a notch is provided at both ends of the ring hook 5-2, and the ring hook 5-2 is connected to the grabber 5-1 and the housing 5-3 through the two gaps respectively.

As shown in Figure 4, the pressure component includes a pressure sensor 7, a sensor support 8, a DC regulated power supply 9 and an oscilloscope 10; the pressure sensor 7 is fixedly installed on the base plate 2 through the sensor support 8, and the pressure sensor 7 is connected to the DC voltage regulator at the same time. The power supply 9 and the oscilloscope 10 are electrically connected.

Preferably, the fin-ray structure flexible manipulator 3 is a fin-ray structure as a whole, and a plurality of strip-shaped soft pads evenly spaced horizontally are installed on the side of the fin-ray structure flexible manipulator 3 in contact with the grab object 5-1.

Preferably, the lower cover 4-11 is marked with scales in a direction perpendicular to the base plate 2.

The experimental method for measuring bearing capacity specifically includes the following steps:

S1: Use a tension meter to measure the load that the fin-structured flexible manipulator 3 can withstand. Specifically, the tension meter is connected to the grasping object 5-1 through the ring hook 5-2, and the tension meter is used to measure the grasping object parallel to the bottom plate 2 downwards. 5-1 applies tensile force. When the grabber 5-1 sandwiched between the fin structure flexible manipulator 3 and the base plate 2 is just pulled down, record the indication of the tension meter, that is, the fin structure flexible manipulator 3 can withstand load;

S2: Use the slider 4-2 to control the fin structure flexible manipulator 3 to move horizontally along the lower cover 4-11, so that the fin structure flexible manipulator 3 is at a certain scale on the sliding assembly 4, and just loads the loader in the loading assembly 5. The grab object 5-1 is sandwiched between the base plate 2 and the fin structure flexible manipulator 3;

S3: Add the same mass of water to water bottles 5-4 multiple times;

S4: When the grab object 5-1 just falls off, stop adding water, and record the total amount of water added in the water bottle 5-4 to measure the bearing capacity of the fin structure flexible manipulator 3;

S5: Change the hardness of the fin-structure flexible manipulator 3, repeat steps S1-S4, and record the bearing capacity of the fin-structure flexible manipulator 3 with different hardnesses measured at the same position.

Taking a certain load-bearing capacity measurement experiment as an example, the experimental device for measuring the load-bearing capacity of a fin-structured flexible manipulator will be described: The experimental location is located in a laboratory with an ambient temperature of 20°C:

Fine-tune the fin structure flexible manipulator 3 to fix the grabber 5-1 between the fin structure flexible manipulator 3 and the base plate 2. Select an arbitrary position that meets the above conditions and record the lower cover 4- corresponding to the position at this time. The 11 scale is 12mm; in each experiment after the control, the position of the fin structure flexible manipulator 3 is 12mm on the lower cover 4-11 scale, and then use a tensile gauge to roughly measure the load-bearing capacity of the fin structure flexible manipulator 3.

Then connect the water bottle 5-4 to the grab object 5-1, and gradually add water with a mass of 5g into the water bottle 5-4, so that the load-bearing capacity of the fin structure flexible manipulator 3 continues to increase until the grab object 5-1 just falls off. , the bearing capacity of the fin structure flexible manipulator 3 at this time can be obtained.

In order to measure the load-bearing capacity of fin-structured flexible manipulators 3 with different hardnesses, this experiment selected fin-structured flexible manipulators 3 with hardnesses of 60 degrees, 70 degrees, 80 degrees and 95 degrees for the experiment. The experimental data records are shown in the following table:

Bearing weight of flexible manipulators with fin structures of different hardnesses

It can be seen from the experimental results that the load-bearing weight of the fin-structure flexible manipulator 3 increases with the increase in hardness. Considering that the fin-structure flexible manipulator 3 needs to meet the grabbing requirements of various environments and various objects, while ensuring as much as possible Its structural strength also meets the usage requirements and achieves greater grabbing force and load-bearing capacity through certain stiffness properties. Therefore, Shore A 80-degree rubber was selected as the processing material hardness of the fin structure flexible manipulator 3 in the design.

The experimental method for measuring clamping force specifically includes the following steps:

S1: Before starting the experiment, use standard weights to calibrate the pressure sensor 7, and obtain the relationship between the clamping force and the voltage of the pressure sensor 7. Specifically: use the standard weight as a load to apply pressure to the pressure sensor 7 in order from small to large. The voltage at this time will be displayed on the oscilloscope 10. Repeat the above steps three times and take the average to draw the voltage of the pressure sensor 7. Size—Clamping force size curve. The obtained voltage-clamping force curve is fitted to obtain the relationship between the clamping force exerted by the pressure sensor 7 and the voltage. The pressure sensor 7 can be used to measure the clamping force of the manipulator 3 more accurately. size.

S2: First, use the slider 4-2 to drive the fin structure flexible manipulator 3 to move to the initial position, so that the fin structure flexible manipulator 3 contacts the pressure sensor 7, and the fin structure flexible manipulator 3 does not exert a clamping force on the pressure sensor 7 , record the position at this time; then move the fin structure flexible manipulator 3 to gradually squeeze the pressure sensor 7, record the voltage displayed by the oscilloscope 10 every time it moves the same displacement, repeat the above steps at least three times, and then obtain the value according to step S1 The relationship between the clamping force and the voltage on the pressure sensor 7 is used to obtain the clamping force; finally, the relationship between the clamping force and the displacement is drawn by combining the experimental data of the displacement and the clamping force.

S3: Fit the relationship curve between the clamping force and the displacement obtained in S2, and obtain the relationship between the clamping force and the displacement of the fin-structure flexible manipulator 3.

Now we will take a certain clamping force measurement experiment as an example to describe the experimental device for measuring the clamping force of a flexible manipulator with a fin structure: The experimental location is in a laboratory with an ambient temperature of 20°C:

1) Before officially starting the experiment, calibrate the pressure sensor 7 used, using standard weights with specifications of 10g, 20g, 50g, 100g, 200g, 300g, 400g, and 500g in order from small to large. Go to the receiving end of the pressure sensor 7, repeat the above steps three times, and then draw a curve of the voltage displayed by the oscilloscope 10 as a function of the clamping force based on the experimental data.

The curve of the voltage value displayed by the oscilloscope 10 as a function of the clamping force is fitted to obtain an equation of the voltage value displayed by the oscilloscope 10 and the clamping force. Among them, the calibration results are shown in the following table:

Calibration results

The equation relationship between the voltage displayed by the oscilloscope 10 and the clamping force is:

U＝aM+b

Among them, U is the sensor output voltage, in mV; a is the sensitivity coefficient, and its value is 0.2369mV/g after fitting; M is the mass of the weight, in g; b is the intercept of the fitting equation, where The value is -0.3011mV.

From the gravity acceleration g=9.8N/kg, the relationship between the voltage displayed by the oscilloscope 10 and the clamping force can be obtained as:

U=cF+d (1)

in, d=-0.30mV, F is the clamping force exerted on the pressure sensor 7, the unit is N.

2) Install the clamping force experimental device, place the pressure sensor 7 on the sensor support 8, and align the receiving end of the pressure sensor 7 with the geometric center of the three strip-shaped soft pads of the fin-structure flexible manipulator. The pressure sensor 7 is connected to the DC voltage regulator. The power supply 9 and the oscilloscope 10 are electrically connected.

3) Move the fin structure flexible manipulator 3 through the sliding component 4, so that the strip-shaped soft pad of the fin structure flexible manipulator 3 just contacts the pressure sensor 7 but does not squeeze; then move the fin structure flexible manipulator 3 through the sliding component 4, And every time it moves 1mm, record the reading of the oscilloscope 10. In the experiment, the upper limit measurement value of the pressure sensor is 15N. Correspondingly, the maximum measurable manipulator displacement in the experiment does not exceed 30mm. Otherwise, the clamping force of the manipulator with greater deformation will exceed 15N. Repeat the above steps three times and then record The data is averaged, and finally the clamping force of the fin-structured flexible manipulator 3 is calculated based on the voltage displayed on the oscilloscope 10 .

Among them, according to formula (1), the relationship between the voltage shown on the oscilloscope 10 and the clamping force is:

Among them, U is the voltage displayed by the oscilloscope 10, in mV. Therefore, the clamping force exerted on the pressure sensor 7 can be directly calculated based on the voltage displayed by the oscilloscope 10.

4) The relationship curve in this experiment shows that when the displacement does not exceed 13mm, there is basically a linear relationship between the clamping force and the displacement. Before 13mm, the deformation of the flexible manipulator mainly comes from the deformation of its outer cushion structure, showing a certain relationship based on The regularity of the characteristics of the soft cushion. After the displacement exceeds 13mm, the main body of the manipulator also undergoes large nonlinear deformation under pressure, so that the relationship between pressure and displacement is no longer a simple approximate linear change law. In view of the 13mm displacement The data within the size is enough to cover the usage requirements when grabbing fragile objects, so only this part of the data can be intercepted for analysis. Combining the experimental data of displacement and clamping force, the relationship curve between clamping force and displacement was drawn, and then the obtained relationship curve between clamping force and displacement was fitted to obtain a fin-structured flexible manipulator. 3The relationship between the clamping force and the displacement is:

F＝0.3555x

Where x represents the displacement of the fin-structure flexible manipulator 3, in mm.

Therefore, the present invention can use the slider 4-2 to adjust the displacement of the fin-structure flexible manipulator 3 to control the magnitude of the clamping force exerted by the fin-structure flexible manipulator 3 on the clamped object.

Claims (5)

1. An experimental method for measuring the bearing capacity of a flexible manipulator with a fin structure, which is characterized by: The method uses an experimental device for measuring the bearing capacity of a fin-structured flexible manipulator. The experimental device includes a frame (1), a bottom plate (2), a fin-structured flexible manipulator (3) and a sliding component (4); the bottom plate (2) ) is vertically fixedly installed on one side of the device frame (1), the sliding component (4) is horizontally installed on the upper part of the device frame (1), and the sliding component (4) is fixedly connected to the bottom plate (2), so The fin ray structure flexible manipulator (3) is fixedly installed on the sliding component (4) parallel to the direction of the bottom plate (2). The component to be tested is set between the bottom plate (2) and the fin ray structure flexible manipulator (3). The component to be tested is Simultaneously contact and connect the base plate (2) and the fin structure flexible manipulator (3); The sliding assembly (4) includes a robot clamp (4-1), a slider (4-2), a locking assembly, a driving assembly, a rack (4-10), a lower cover (4-11), and a bracket (4- 12) and dovetail slide bottom plate (4-13); The component to be tested is a loading component (5), which is arranged parallel to the direction of the bottom plate (2) between the bottom plate (2) and the fin structure flexible manipulator (3); the loading component (5) ) includes a grabber (5-1), a ring hook (5-2), a housing (5-3) and a water bottle (5-4); the water bottle (5-4) is fixedly connected to the housing (5- 3), the grabber (5-1) is fixedly connected to the other end of the housing (5-3) through the ring hook (5-2), and the loading assembly (5) is connected through the grabber (5 -1) Contact and connect with the base plate (2) and the fin structure flexible manipulator (3) at the same time; The experimental method for measuring bearing capacity specifically includes the following steps: S1: Use a tension meter to measure the load that the fin-structured flexible manipulator (3) can withstand; S2: Use the slider (4-2) to control the fin structure flexible manipulator (3) to move horizontally along the lower cover (4-11), so that the fin structure flexible manipulator (3) is at a certain scale on the sliding assembly (4) position, and just sandwich the grab object (5-1) in the loading assembly (5) between the base plate (2) and the fin structure flexible manipulator (3); S3: Add the same mass of water to the water bottle (5-4) multiple times; S4: When the grab object (5-1) just falls off, stop adding water, and record the total amount of water added in the water bottle (5-4) to measure the bearing capacity of the fin structure flexible manipulator (3); S5: Change the hardness of the fin-structured flexible manipulator (3), repeat steps S1-S4, and record the bearing capacity of the fin-structured flexible manipulator (3) with different hardnesses measured at the same position. 2. The experimental method for measuring the bearing capacity of a flexible manipulator with a fin structure according to claim 1, characterized in that: one end of the bracket (4-12) is fixedly connected to the device frame (1), and the bracket (4-12) is fixedly connected to the device frame (1). The other end of 12) is fixedly connected to the bottom plate (2) through the dovetail slide bottom plate (4-13), and the lower cover (4-11) is fixedly installed on the bracket (4-12) parallel to the bottom surface of the bracket (4-12). ) lower part, the bottom surface of the lower cover (4-11) is installed with two convex rails parallel to the lower cover (4-11) at intervals, and the rack (4-10) is fixedly installed on the lower cover (4-11) ), and just stuck in the strip groove formed between the two convex rails; the two sides of the slider (4-2) parallel to the rack (4-10) are facing each opening There is an identical through hole, the two through holes of the drive assembly passing through the slider (4-2) are movably connected with the slider (4-2), and the drive assembly is engaged and connected with the rack (4-10) at the same time. , the locking component is fixedly installed in a strip groove of the slider (4-2), and the fin structure flexible manipulator (3) is fixedly installed on the slider (4-2) through the manipulator clamp (4-1) the lower part; The driving assembly is mainly composed of a gear shaft (4-6), a shaft sleeve (4-7), a washer (4-8) and a handle (4-9). The shaft sleeve (4-7), washer (4 -8) and the handle (4-9) are sequentially contacted and connected coaxially to one end of the gear shaft (4-6), and the handle (4-9) is arranged at the end of one end of the gear shaft (4-6), as described The driving assembly is movably connected to the slider (4-2) through the bushing (4-7), and the driving assembly is meshingly connected to the rack (4-10) through the gear shaft (4-6); the gear shaft The other end of (4-6) passes through the two through holes opened in the slider (4-2) in sequence, and the gear shaft (4-6) does not contact the slider (4-2). 3. The experimental method for measuring the bearing capacity of a fin-structured flexible manipulator according to claim 2, characterized in that: the locking assembly mainly consists of a locking nut (4-3), a wrench (4-4) and a locking bolt (4 -5) composition, the locking nut (4-3) and the wrench (4-4) are coaxially mounted on the locking bolt (4-5), and the slider (4-2) is away from the handle (4-9 ) has a threaded groove in the strip groove, the locking component is fixed in the strip groove of the slider (4-2) away from the handle (4-9), and the locking component is connected to the slider (4-2) through the locking bolt (4-5). Threaded groove meshing connection. 4. The experimental method for measuring the bearing capacity of a fin-ray structure flexible manipulator according to claim 1, characterized in that: the fin-ray structure flexible manipulator (3) is a fin-ray structure as a whole, and the fin-ray structure flexible manipulator (3) ) A plurality of strip-shaped soft pads evenly spaced horizontally are installed on the side contacting the grab object (5-1). 5. The experimental method for measuring the bearing capacity of a flexible manipulator with a fin structure according to claim 1, characterized in that: the lower cover (4-11) is marked with a scale in a direction perpendicular to the bottom plate (2).