A parameter measurement device and method for a flexible fixture

Abstract

The present invention discloses a parameter measurement device for a flexible clamp, comprising an electrically connected controller and a measuring mechanism, wherein the measuring mechanism is connected to the flexible clamp; wherein the controller controls the measuring mechanism to measure the parameters of the flexible clamp, and obtains at least two parameters of the flexible clamp, wherein the at least two parameters include a non-working state parameter and a working state parameter of the flexible clamp, and the working state parameter includes the thrust of the flexible clamp. A parameter measurement method for a flexible clamp is also disclosed. The present invention changes the measuring device in the prior art that measures the pressure of the flexible clamp to measure the thrust of the flexible clamp, and integrates the measurement of the deformation length and height of the flexible clamp into the parameter measurement device of the flexible clamp. The present invention can accurately evaluate the practicality of the flexible clamp, and has the advantages of accurate and comprehensive measurement parameters.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of mechanical technology, and in particular to a parameter measurement device and method for a flexible clamp. Background Art

[0002] The flexible gripper is the end-effector of a soft robot, also known as a flexible finger. There are many manufacturers of flexible fingers on the market, producing a variety of flexible fingers. There is no unified evaluation parameter for the various flexible fingers on the market. Most manufacturers of flexible fingers only provide the appearance of the flexible fingers and the gripping weight of the flexible fingers as evaluation parameters of the flexible fingers. However, these two evaluation parameters cannot meet the evaluation of flexible fingers in actual working conditions, and a large amount of on-site experimental data is still needed to assist the evaluation of flexible fingers. Therefore, in actual production, imperfect evaluation parameters of flexible fingers have a great impact on the selection and work efficiency of flexible fingers.

[0003] In the prior art, a conventional flexible finger evaluation parameter measurement scheme measures the downward pressure generated by the bending of the flexible finger in a flat state as a measurement of the flexible finger evaluation parameter, and the downward pressure also includes the gravity of the finger itself, so in the actual working condition of the flexible finger grasping an object, measuring the downward pressure generated by the bending of the flexible finger in a flat state as a flexible finger evaluation parameter will have a considerable error. When the flexible finger grasps an object, what really works is the friction force generated by the horizontal thrust generated by the flexible finger acting on the grasped object, which has a different working principle from the downward pressure measured in the conventional flexible finger evaluation parameter measurement scheme.

[0004] In summary, how to obtain accurate and comprehensive evaluation parameters for measuring flexible fingers is a technical problem that needs to be urgently solved in this field. Summary of the invention

[0005] The present invention discloses a parameter measurement device and method for a flexible clamp. The measurement device in the prior art measures the pressure of the flexible clamp, which is changed to the thrust of the flexible clamp, and integrates the measurement of the deformation length and height of the flexible clamp into the parameter measurement device of the flexible clamp. The parameters of the flexible clamp measured by the parameter measurement device of the flexible clamp are used to evaluate the conversion relationship between the deformation and force of the flexible clamp, which fully demonstrates the practicality of the flexible clamp and improves the evaluation parameters of the flexible clamp.

[0006] In a first aspect, the present invention provides a novel device for measuring working parameters of a flexible finger, an electrically connected controller and a measuring mechanism, wherein the measuring mechanism is connected to the flexible clamp;

[0007] Among them, the controller controls the switching state of the flexible clamp, and controls the measuring mechanism to measure the parameters of the flexible clamp in each state, to obtain at least two parameters of the flexible clamp, and the at least two parameters include the non-working state parameters and working state parameters of the flexible clamp, and the working state parameters include the thrust of the flexible clamp.

[0008] In an optional embodiment, the measuring mechanism includes: a distance sensor, a deformation sensor, a thrust sensor, a first slide rail, a second slide rail, a thrust plate, a bottom plate, a supporting mechanism, and a fixing component;

[0009] The support mechanism is perpendicular to the bottom plate and fixed on the end surface of the bottom plate, the first slide rail and the second slide rail are installed on the support mechanism, the first slide rail cooperates with the distance sensor so that the distance sensor moves in a direction parallel to the bottom plate, and the second slide rail cooperates with the deformation sensor so that the deformation sensor moves in a direction perpendicular to the bottom plate;

[0010] The thrust sensor is arranged on the end surface of the bottom plate and connected to the thrust plate;

[0011] The fixing component is used to fix the flexible clamp, and the fixing component is movably connected to the bottom plate.

[0012] In an optional implementation, an optical adjustment platform is further installed on the support mechanism, and the optical adjustment platform is used to adjust the distance between the thrust plate and the flexible clamp, and the optical adjustment platform is fixedly connected to the thrust sensor via a connecting piece.

[0013] In an optional embodiment, the measuring mechanism further includes a third slide rail, which is fixed on the end surface of the base plate and cooperates with the fixing assembly so that the fixing assembly moves on the end surface of the base plate based on the third slide rail.

[0014] In an optional embodiment, the fixing assembly includes: a cylinder and a U-shaped clamp arranged opposite to each other, the U-shaped opening of the U-shaped clamp is used to fix the flexible clamp, and the cylinder presses the flexible clamp onto the U-shaped clamp by moving a piston.

[0015] In an optional implementation, the non-working state parameter includes the height of the flexible clamp, and the working state parameter includes the deformation length of the flexible clamp.

[0016] In a second aspect, the present invention further provides a method for measuring parameters of a flexible clamp, the method comprising:

[0017] The flexible clamp switches form in response to control information;

[0018] Parameters of the flexible clamp in various states are measured to obtain at least two parameters of the flexible clamp, wherein the at least two parameters include a non-working state parameter and a working state parameter of the flexible clamp, and the working state parameter includes the thrust of the flexible clamp.

[0019] In an optional implementation, the measuring the thrust of the flexible clamp includes:

[0020] Aligning the flexible clamp with the horizontal center line of the thrust plate;

[0021] Adjusting the distance between the working surface of the flexible clamp and the thrust plate by means of an optical adjustment table so that the thrust plate and the working surface of the flexible clamp are in close contact;

[0022] Inflate the flexible clamp so that the flexible clamp generates a force on the thrust plate;

[0023] The thrust corresponding to the action force is obtained as the thrust of the flexible clamp.

[0024] In an optional embodiment, the measuring of the parameters of the flexible clamp in various forms further includes: measuring the height of the flexible clamp in a non-working state, and measuring the deformation length of the flexible clamp in a working state.

[0025] In an optional implementation, measuring the height of the flexible clamp includes:

[0026] Sliding the flexible clamp to below the distance sensor;

[0027] Sliding the distance sensor to align with the top end of the flexible clamp;

[0028] The height of the flexible clamp is obtained.

[0029] In an optional implementation, measuring the deformation length of the flexible clamp includes:

[0030] Sliding the flexible clamp to align with the deformation sensor, the detection signal of the deformation sensor is at the top of the flexible clamp;

[0031] Inflating the flexible clamp so that the flexible clamp bends;

[0032] Sliding the deformation sensor so that the detection signal of the deformation sensor again indicates the top end of the flexible clamp after inflation;

[0033] Obtain the deformation length of the flexible fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1A schematic structural diagram of a parameter measuring device for a flexible clamp of the present invention.

[0035] Description of the symbols in the figure

[0036] 1 distance sensor 2 first slide rail 3 deformation sensor 4 second slide rail

[0037] 5 Cylinder 6 U-shaped fixture 7 Thrust sensor 8 Optical adjustment table

[0038] 9 thrust plate 10 third slide rail 11 bottom plate 12 support mechanism DETAILED DESCRIPTION

[0039] The following is combined with the attached drawings Figure 1 A parameter measuring device for a flexible clamp of the present invention is further described in detail.

[0040] Example 1

[0041] In the first aspect, the present invention discloses a parameter measurement device for a flexible fixture, please refer to Figure 1 , comprising: an electrically connected controller and a measuring mechanism, wherein the measuring mechanism is connected to the flexible clamp;

[0042] Among them, the controller controls the switching state of the flexible clamp, and controls the measuring mechanism to measure the parameters of the flexible clamp in each state, to obtain at least two parameters of the flexible clamp, and the at least two parameters include the non-working state parameters and working state parameters of the flexible clamp, and the working state parameters include the thrust of the flexible clamp.

[0043] The present invention proposes a new measurement standard for flexible clamps, and designs a parameter measurement device for flexible clamps according to the new measurement standard. Compared with the existing measurement device that measures the pressure of flexible clamps, the new standard measures the thrust, deformation length and height of flexible clamps. The new standard is used to evaluate the conversion relationship between the deformation and force of flexible clamps, more comprehensively demonstrates the practicality of flexible clamps, and improves the evaluation parameters.

[0044] According to the new evaluation parameters, the present invention proposes a parameter measurement device for a flexible clamp. The device is composed of a controller and a measuring mechanism, and the measuring mechanism is connected to the flexible clamp of the parameters to be measured. The controller integrates the power supply of the measuring mechanism and controls the state switching of the flexible clamp. The functions of the measuring mechanism are divided into five small parts, two of which are used to fix the flexible clamp and move the fixed flexible clamp on the bottom plate, and the other three parts are used to measure three parameters of the flexible clamp. When the controller controls the measuring mechanism to measure the parameters of the flexible clamp, at least two parameters of the flexible clamp are measured. At least two parameters include a non-working state parameter and a working state parameter of the flexible clamp, and the working state parameter includes the thrust of the flexible clamp.

[0045] In the prior art, the flexible clamp measuring device measures the downward pressure generated by the bending of the flexible clamp in a flat state as the flexible clamp evaluation parameter, and the downward pressure also includes the gravity of the flexible clamp itself. Therefore, in the actual working condition of the flexible clamp grasping an object, the downward pressure generated by the bending of the flexible clamp in a flat state as the flexible finger evaluation parameter will have a considerable error. Therefore, the present device measures the thrust of the flexible clamp instead of the pressure of the flexible clamp.

[0046] Further, the non-working state parameter includes the height of the flexible clamp, and the working state parameter includes the deformation length of the flexible clamp. That is, in this embodiment, the measured parameter in the non-working state is the height of the flexible clamp, and the measured parameter in the working state is the deformation length of the flexible clamp.

[0047] Further, a parameter measurement device of a flexible clamp of the present invention, please refer to Figure 1 , the measuring mechanism includes: a distance sensor 1, a deformation sensor 3, a thrust sensor 7, a first slide rail 2, a second slide rail 4, a thrust plate 9, a bottom plate 11, a supporting mechanism 12, and a fixing component;

[0048] The support mechanism 12 is perpendicular to the bottom plate 11 and fixed on the end surface of the bottom plate 11. The first slide rail 2 and the second slide rail 4 are installed on the support mechanism 12. The first slide rail 2 cooperates with the distance sensor 1 so that the distance sensor 1 moves in a direction parallel to the bottom plate 11. The second slide rail 4 cooperates with the deformation sensor 3 so that the deformation sensor 3 moves in a direction perpendicular to the bottom plate 11.

[0049] The thrust sensor 7 is arranged on the end surface of the bottom plate 11 and connected to the thrust plate 9;

[0050] The fixing assembly is used to fix the flexible clamp, and the fixing assembly is movably connected to the bottom plate 11 .

[0051] In this measurement structure, the distance sensor 1 slides on the first slide rail 2, and slides on the third slide rail 10 with the flexible clamp fixed on the fixed component, and completes the flexible clamp height measurement in cooperation; the deformation sensor 3 slides on the second slide rail 4, and slides on the third slide rail 10 with the flexible clamp fixed on the fixed component, and completes the flexible clamp deformation length measurement in cooperation; the thrust plate 9 is connected to the thrust sensor 7, and slides on the third slide rail 10 with the flexible clamp fixed on the fixed component, and completes the flexible clamp thrust measurement in cooperation. During the measurement of these three parameters, the distance sensor 1, the deformation sensor 3 and the thrust sensor 7 all need to have distance requirements with the flexible clamp, and the distance sensor 1 also needs to slide on the first slide rail 2, and the deformation sensor 3 slides on the second slide rail 4, and completes the flexible clamp height and flexible clamp deformation length measurement with the flexible clamp sliding on the third slide rail 10, so it is necessary to install the first slide rail 2 and the second slide rail 4 on the support mechanism 12, the distance sensor 1 is set on the first slide rail 2, and the deformation sensor 3 is set on the second slide rail 4. The supporting mechanism 12 is vertically disposed on the bottom plate 11 , so that the parameter measuring device of the flexible fixture is stably fixed on the bottom plate 11 as a whole.

[0052] The fixing assembly is used to fix the flexible clamp, and the fixing assembly is movably connected to the bottom plate 11. Further, the fixing assembly includes: a cylinder 5 and a U-shaped clamp 6 arranged opposite to each other, the U-shaped opening of the U-shaped clamp 6 is used to fix the flexible clamp, and the cylinder 5 presses the flexible clamp on the U-shaped clamp 6 by moving the piston.

[0053] The flexible fixture is placed on the U-shaped fixture 6, and the flexible fixture is fixed on the U-shaped fixture by pressing the cylinder 5, which greatly reduces the shape restrictions of the flexible fixture that needs to be measured. Fixation can be completed by tightening the two parallel surfaces of the flexible fixture.

[0054] Further, the measuring mechanism further includes a third slide rail 10, which is fixed on the end surface of the bottom plate 11 and cooperates with the fixed component so that the fixed component moves on the end surface of the bottom plate 11 based on the third slide rail 10. The fixed component is movably connected to the bottom plate 11 by fixing the third slide rail 10 on the bottom plate 11. That is, the fixed component is fixed to the third slide rail 10 through a slider, the third slide rail 10 is fixed to the bottom plate 11, and the fixed component slides on the third slide rail 10 through a slider and is movably connected to the bottom plate 11.

[0055] The fixing assembly slides to different positions on the third slide rail 10 to measure different parameters, thereby avoiding the cumbersome process of multiple clamping of the flexible fixture.

[0056] Furthermore, an optical adjustment platform 8 is also installed on the support mechanism 12. The optical adjustment platform 8 is used to adjust the distance between the thrust plate 9 and the flexible clamp. The optical adjustment platform 8 is fixedly connected to the thrust sensor 7 through a connector. In the process of measuring the thrust of the flexible clamp, the thrust plate 9 needs to be in close contact with the working surface of the flexible clamp. The thrust plate 9 can be manually made to be in close contact with the working surface of the flexible clamp, or the optical adjustment platform 8 installed on the support mechanism 12 can be used to adjust the thrust plate 9 so that the thrust plate 9 is more accurately and stably in close contact with the working surface of the flexible clamp. The optical adjustment platform 8 is connected to the thrust sensor 7 through a connector, and the thrust sensor 7 is connected to the thrust plate 9. Then, the optical adjustment platform 8 can adjust the distance between the thrust plate 9 and the thrust sensor 7 and the flexible clamp through force conduction.

[0057] In a second aspect, based on a parameter measurement device of a flexible clamp, a parameter measurement method of a flexible clamp is disclosed. The measurement method comprises: the flexible clamp switches a form in response to control information;

[0058] Parameters of the flexible clamp in various states are measured to obtain at least two parameters of the flexible clamp, wherein the at least two parameters include a non-working state parameter and a working state parameter of the flexible clamp, and the working state parameter includes the thrust of the flexible clamp.

[0059] In this embodiment, the flexible clamp thrust and the flexible clamp height are measured, and the measuring method includes:

[0060] Step 1, place the flexible clamp on the U-shaped clamp, turn on the cylinder switch during operation, the cylinder presses tightly on the sealing structure of the flexible clamp, and fixes the flexible clamp on the fixed component;

[0061] Step 2, push the fixing assembly of the flexible clamp to slide on the third slide rail to below the distance sensor, then adjust the position of the distance sensor to the top of the flexible clamp by sliding the distance sensor on the first slide rail, measure the height of the flexible clamp, and the data displayed on the distance sensor is the height of the flexible clamp;

[0062] Step 3, push the fixed component of the flexible clamp to slide on the third slide rail until it is face to face with the thrust plate and aligned with the center line of the thrust plate, adjust the optical adjustment table fixed on the supporting mechanism, make the thrust plate and the working surface of the flexible clamp close to each other, and the top of the clamp is flush with the thrust sensor. The controller inflates the flexible clamp, and the flexible clamp bends and deforms, generating a horizontal thrust on the thrust plate, causing the thrust sensor to deform. At this time, the reading on the digital display below the controller is the thrust of the flexible clamp.

[0063] Example 2

[0064] The same technical features as those in Example 1 are not described in detail in this embodiment. The difference between this embodiment and Example 1 lies in the method for measuring the parameters of the flexible clamp. In this embodiment, the thrust of the flexible clamp and the deformation length of the flexible clamp are measured, and the measuring method includes:

[0065] Step 1, place the flexible clamp on the U-shaped clamp, turn on the cylinder switch during operation, the cylinder presses tightly on the sealing structure of the flexible clamp, and fixes the flexible clamp on the fixed component;

[0066] Step 2: Push the fixed assembly of the flexible clamp to slide on the third slide rail until it faces the thrust plate and is aligned with the center line of the thrust plate. Adjust the optical adjustment table fixed on the support mechanism so that the thrust plate is in close contact with the working surface of the flexible clamp and the top of the clamp is flush with the thrust sensor. The controller inflates the flexible clamp, and the flexible clamp bends and deforms, generating a horizontal thrust on the thrust plate, causing the thrust sensor to deform. At this time, the reading on the digital display below the controller is the thrust of the flexible clamp.

[0067] Step 3, push the fixed component of the flexible clamp to slide on the third slide rail, so that the flexible clamp that is not inflated and not deformed is aligned with the deformation sensor. At this time, the detection signal of the deformation sensor is indicated on the top of the flexible clamp, and the value displayed by the deformation sensor returns to 0. Then the controller inflates the flexible clamp to bend the flexible clamp, and the deformation sensor slides in the vertical direction on the second slide rail to adjust the position of the deformation sensor so that the detection signal of the deformation sensor is re-indicated on the top of the flexible clamp. The value displayed on the deformation sensor is the deformation length of the flexible clamp.

[0068] Example 3

[0069] The same technical features as those in Example 1 are not described in detail in this embodiment. The difference between this embodiment and Example 1 and Example 2 lies in the method for measuring the parameters of the flexible clamp. In this embodiment, the thrust of the flexible clamp, the deformation length of the flexible clamp and the height of the flexible clamp are measured. The measuring method includes:

[0070] Step 1, place the flexible clamp on the U-shaped clamp, turn on the cylinder switch during operation, the cylinder presses tightly on the sealing structure of the flexible clamp, and fixes the flexible clamp on the fixed component;

[0071] Step 2, push the fixing assembly of the flexible clamp to slide on the third slide rail to below the distance sensor, then adjust the position of the distance sensor to the top of the flexible clamp by sliding the distance sensor on the first slide rail, measure the height of the flexible clamp, and the data displayed on the distance sensor is the height of the flexible clamp;

[0072] Step 3, push the fixed assembly of the flexible clamp to slide on the third slide rail until it faces the thrust plate and is aligned with the center line of the thrust plate, adjust the optical adjustment table fixed on the support mechanism, make the thrust plate and the working surface of the flexible clamp close together, and make the top of the clamp flush with the thrust sensor, and the controller inflates the flexible clamp, so that the flexible clamp bends and deforms, generates a horizontal thrust on the thrust plate, and deforms the thrust sensor, and at this time, the reading on the digital display below the controller is the thrust of the flexible clamp;

[0073] Step 4, push the fixed component of the flexible clamp to slide on the third slide rail, so that the flexible clamp that is not inflated and not deformed is aligned with the deformation sensor. At this time, the detection signal of the deformation sensor is indicated on the top of the flexible clamp, and the value displayed by the deformation sensor returns to 0. Then the controller inflates the flexible clamp to bend the flexible clamp, and the deformation sensor slides in the vertical direction on the second slide rail. The position of the deformation sensor is adjusted so that the detection signal of the deformation sensor is re-indicated on the top of the flexible clamp, and the value displayed on the deformation sensor is the deformation length of the flexible clamp.

[0074] It should be understood that the above embodiments 1 to 3 are exemplary descriptions of the technical solutions of the present invention and do not limit the technical solutions of the embodiments of the present invention. In actual implementation, the implementation order of each step in the above embodiments 1 to 3 can be interchanged. For example, in another implementation, in the implementation scenario corresponding to embodiment 2, the deformation length of the flexible clamp can be measured first, and then the thrust of the flexible clamp can be measured. The embodiments of the present invention do not limit this.

[0075] The above only illustrates several specific embodiments of the present invention, but it cannot be regarded as the protection scope of the present invention. Any equivalent changes or modifications or proportional enlargement or reduction made according to the design spirit of the present invention should be considered to fall within the protection scope of the present invention.

Claims

1. A parameter measurement device for a flexible fixture, characterized in that: include: an electrically connected controller and a measuring mechanism, the measuring mechanism being connected to the flexible clamp; Wherein, the controller controls the switching state of the flexible clamp, and controls the measuring mechanism to measure the parameters of the flexible clamp in each state, to obtain at least two parameters of the flexible clamp, the at least two parameters include a non-working state parameter and a working state parameter of the flexible clamp, and the working state parameter includes the thrust of the flexible clamp; The measuring mechanism comprises: a distance sensor, a deformation sensor, a thrust sensor, a first slide rail, a second slide rail, a thrust plate, a bottom plate, a supporting mechanism, and a fixing assembly; The support mechanism is perpendicular to the bottom plate and fixed to the bottom plate, the first slide rail and the second slide rail are installed on the support mechanism, the first slide rail cooperates with the distance sensor so that the distance sensor moves in a direction parallel to the bottom plate, and the second slide rail cooperates with the deformation sensor so that the deformation sensor moves in a direction perpendicular to the bottom plate; The thrust sensor is arranged on the bottom plate and connected to the thrust plate; The fixing assembly is used to fix the flexible clamp, and the fixing assembly is movably connected to the bottom plate; An optical adjustment platform is also installed on the support mechanism, and the optical adjustment platform is used to adjust the distance between the thrust plate and the flexible clamp, and the optical adjustment platform is fixedly connected to the thrust sensor through a connecting piece; The measuring mechanism further comprises a third slide rail, which is fixed to the base plate and cooperates with the fixing assembly so that the fixing assembly moves on the base plate based on the third slide rail; The distance sensor slides on the first slide rail and slides on the third slide rail with the flexible clamp fixed on the fixed component to cooperate with each other to complete the measurement of the height of the flexible clamp; the deformation sensor slides on the second slide rail and slides on the third slide rail with the flexible clamp fixed on the fixed component to complete the measurement of the deformation length of the flexible clamp; the thrust plate is connected to the thrust sensor and slides on the third slide rail with the flexible clamp fixed on the fixed component to complete the thrust measurement of the flexible clamp.

2. The parameter measuring device of the flexible clamp according to claim 1, characterized in that: The fixing assembly comprises: a cylinder and a U-shaped clamp which are arranged opposite to each other, the U-shaped opening of the U-shaped clamp is used to fix the flexible clamp, and the cylinder presses the flexible clamp onto the U-shaped clamp by moving a piston.

3. A method for measuring parameters of a flexible fixture, characterized in that: The measuring method is implemented by the parameter measuring device according to any one of claims 1 to 2, and the measuring method comprises: The flexible clamp switches form in response to control information; Parameters of the flexible clamp in various states are measured to obtain at least two parameters of the flexible clamp, wherein the at least two parameters include a non-working state parameter and a working state parameter of the flexible clamp, and the working state parameter includes the thrust of the flexible clamp.

4. The method for measuring parameters of a flexible fixture according to claim 3, characterized in that: The measuring the thrust of the flexible clamp comprises: Aligning the flexible clamp with the center line of the thrust plate in a horizontal direction; Adjusting the distance between the working surface of the flexible clamp and the thrust plate by means of an optical adjustment table so that the thrust plate and the working surface of the flexible clamp are in close contact; Inflate the flexible clamp so that the flexible clamp generates a force on the thrust plate; The thrust corresponding to the action force is obtained as the thrust of the flexible clamp.

5. The method for measuring parameters of a flexible fixture according to claim 3, characterized in that: The measuring of the parameters of the flexible fixture in various forms also includes: The height of the flexible clamp in a non-working state is measured, and the deformation length of the flexible clamp in a working state is measured.

6. A method for measuring parameters of a flexible fixture according to claim 5, characterized in that: The measuring the height of the flexible fixture comprises: Sliding the flexible clamp to below the distance sensor; Sliding the distance sensor to align with the top end of the flexible clamp; The height of the flexible clamp is obtained.

7. The method for measuring parameters of a flexible fixture according to claim 5, characterized in that: The measuring of the deformation length of the flexible fixture comprises: Sliding the flexible clamp to align with the deformation sensor, the detection signal of the deformation sensor is at the top of the flexible clamp; Inflating the flexible clamp so that the flexible clamp bends; Sliding the deformation sensor so that the detection signal of the deformation sensor again indicates the top end of the flexible clamp after inflation; Obtain the deformation length of the flexible fixture.

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