Soft robot rigidity measuring device

Abstract

A soft robot rigidity measuring device comprises a first electric sliding table module, a first fixed pulley block module, a direction adjusting module, a rope, a data detection control module and an angle adjusting module. The first electric sliding table module comprises a first sliding table assembly, a tension sensor, a lifting ring and a displacement sensor, the tension sensor, the lifting ring and the displacement sensor are installed on the first sliding table assembly, and the lifting ring is installed on the tension sensor; the direction adjusting module comprises a second electric sliding table module and a second fixed pulley block module installed on the second electric sliding table module. One side of the rope is connected to the hanging ring, and the other side of the rope sequentially bypasses the first fixed pulley block module and the second fixed pulley block module and is fixed to the soft robot installed in the angle adjusting module. And the data detection control module is used for collecting and analyzing real-time data of the tension sensor and the displacement sensor so as to obtain a rigidity measurement result. According to the invention, the rigidity measurement requirements of the soft robot in different shapes before and after deformation can be met.

Description

Technical Field

[0001] The invention relates to the technical field of robot stiffness measurement equipment, and in particular to a soft robot stiffness measurement device. Background Art

[0002] With the development of robotics technology, soft robots made of flexible materials are widely used in confined space operations, bionic movements, and complex and fragile object grasping due to their large deformation, high flexibility, and safety. The differences in the body materials, preparation processes, and body structures of soft robots determine that different soft robots have different mechanical properties. Among them, stiffness characteristics are an important indicator for evaluating the working performance of soft robots. Therefore, studying the stiffness measurement device of soft robots is of great significance to realize the evaluation of the rigidity characteristics of soft robots and improve the working performance of soft robots. Summary of the invention

[0003] The present invention provides a soft robot stiffness measurement device to solve the technical problem mentioned in the background technology.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] The present invention provides a soft robot stiffness measurement device, comprising a support module;

[0006] The first electric slide module is installed on the support module, and includes a first slide assembly, a tension sensor, a lifting ring and a displacement sensor. The tension sensor and the lifting ring are both installed on the sliding part of the first slide assembly, and the lifting ring is installed on the detection part of the tension sensor; the displacement sensor is installed between the sliding part of the first slide assembly and the support module;

[0007] The first fixed pulley block module is installed on the support module, and the installation height is flush with the sliding part of the first electric slide module;

[0008] A direction adjustment module is installed on the support module, and includes a second electric slide module and a second fixed pulley block module installed on the sliding part of the second electric slide module;

[0009] A rope, one side of which is connected to the lifting ring, and the other side of which is passed through the first fixed pulley block module and the second fixed pulley block module in sequence and fixedly connected to the soft robot to be detected, and a direction adjustment module is used to adjust the direction of the rope so that the connection direction of the rope and the soft robot to be detected is always the direction of the stiffness to be measured of the soft robot to be detected;

[0010] The data detection control module is installed on the support module and is used to control the first electric slide module and the second electric slide module, and collect and analyze the real-time data of the tension sensor and the displacement sensor to obtain the stiffness measurement result.

[0011] Furthermore, the support module includes a base and a fixed bracket installed on the base, the first electric slide module, the first fixed pulley module, and the direction adjustment module are all installed on the fixed bracket, and the data detection control module is installed on the base.

[0012] Furthermore, the stiffness measuring device further comprises an angle adjustment module, and the angle adjustment module comprises:

[0013] A connecting seat, located on one side of the direction adjustment module;

[0014] The adapter plate is rotatably connected to the connecting seat through the rotating shafts on both sides;

[0015] A third motor is connected to the rotating shaft on one side of the adapter plate to drive the adapter plate to rotate;

[0016] The angle sensor is drivingly connected to the rotating shaft on the other side of the adapter plate; the angle sensor is electrically connected to the data detection control module to realize the collection of the rotation angle data of the adapter plate.

[0017] Furthermore, the adapter plate is provided with a plurality of mounting holes to enable the installation of different soft robots.

[0018] Furthermore, the data detection control module includes:

[0019] A power supply, used to supply power to the entire stiffness measurement device;

[0020] A data acquisition system is electrically connected to the tension sensor, the displacement sensor, and the angle sensor, and is used to collect data from the three sensors in real time;

[0021] A computer, electrically connected to the data acquisition system, for receiving data from the three sensors;

[0022] The microcontroller is electrically connected to the computer and is used to receive serial port instructions transmitted from the computer and generate motion instructions according to the serial port instructions;

[0023] The motor driver has an input end electrically connected to the microcontroller, and an output end electrically connected to the driving ends of the first electric slide module, the second electric slide module, and the angle adjustment module respectively; it is used to drive the first electric slide module, the second electric slide module, and the angle adjustment module to move according to motion instructions.

[0024] Furthermore, the rope is a rigid pull rope to reduce the deformation of the rope.

[0025] Furthermore, the first slide assembly comprises:

[0026] The first sliding platform is provided with a plurality of first guide shafts arranged in parallel;

[0027] A first sliding block is inserted into a plurality of first guide shafts in the first sliding platform to achieve a sliding connection between the first sliding block and the first sliding platform;

[0028] A first motor is mounted on the first sliding platform;

[0029] A first screw rod, one side of which passes through the first slider and is threadedly connected to the first slider, and the other side of which is transmission-connected to the first motor through a first coupling;

[0030] A first fixing seat, fixedly mounted on the first sliding block, wherein the tension sensor is mounted on the first fixing seat;

[0031] The second fixing seat is fixedly mounted on the first sliding block. One end of the displacement sensor is mounted on the second fixing seat, and the other end is fixedly mounted on the supporting module.

[0032] Further, the first fixed pulley block module comprises:

[0033] A first mounting bracket is mounted on a side surface of the first electric slide module;

[0034] The two first fixed pulleys are both vertically rotatably connected to the side surfaces of the first mounting bracket, and the top surface of the uppermost first fixed pulley is flush with the sliding part of the first electric slide module, so that the movement direction of the rope connected to one side of the lifting ring is consistent with the movement direction of the sliding part of the first electric slide module.

[0035] Furthermore, the second electric slide module includes:

[0036] The second sliding platform is provided with a plurality of second guide shafts arranged in parallel;

[0037] The second sliding block is plugged into a plurality of second guide shafts in the second sliding platform to achieve sliding connection between the second sliding block and the second sliding platform;

[0038] a second motor, mounted on the second sliding platform;

[0039] The second screw rod has one side passing through the second slider and being threadedly connected with the second slider, and the other side being transmission-connected with the second motor through the second coupling.

[0040] Further, the second fixed pulley block module comprises:

[0041] A second mounting bracket, fixedly mounted on the second sliding block;

[0042] The two second fixed pulleys are both vertically rotatably connected to the second mounting bracket.

[0043] Beneficial effects of the present invention:

[0044] 1. The present invention discloses a soft robot stiffness measuring device. Compared with the traditional stiffness measuring equipment, the stiffness measuring device of the present invention adds a first fixed pulley block module and a second fixed pulley block module for switching. The first fixed pulley block module can make the movement direction of the rope connected to one side of the lifting ring consistent with the movement direction of the sliding part of the first electric slide module, thereby ensuring that the tension detected by the tension sensor is equal to the tension on the rope;

[0045] By adding a second fixed pulley block module, it can be ensured that when measuring the stiffness of different soft robots, the direction of the rope connecting the soft robots is always in the direction of the stiffness to be measured, that is, the horizontal direction. The second fixed pulley block module ensures that when the rope pulls the soft robot to be tested, the tension of the rope is equal to the tension of the soft robot in the direction of the stiffness to be measured.

[0046] In summary, by adding the first fixed pulley block module and the second fixed pulley block module, it is ensured that when measuring the stiffness of different soft robots, the tension detected by the tension sensor is equal to the tension of the soft robot in the direction of the measured stiffness.

[0047] 2. The present invention also proposes a stiffness measuring device equipped with an angle adjustment module. Compared with the traditional stiffness measuring device, the angle adjustment module is added. For soft robots of different specifications to be tested, the present invention can use the angle adjustment module to adjust the inclination angle of the adapter plate to support stiffness measurement of a variety of different soft robots, which is more applicable.

[0048] In addition, by adding an angle adjustment module, it is also possible to support stiffness measurement of the soft robot in different directions, with stronger measurement performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0050] Figure 2 It is a schematic diagram of the three-dimensional structure of the first electric slide module in the present invention;

[0051] Figure 3 Schematic diagram of the three-dimensional structure of the second electric slide module in the present invention;

[0052] Figure 4 It is a schematic diagram of the three-dimensional structure of the angle adjustment module in the present invention;

[0053] Figure 5 It is the overall structural diagram of the present invention;

[0054] Figure 6 Schematic diagram of stiffness measurement of a soft robot in direction A according to an embodiment of the present invention;

[0055] Figure 7 Schematic diagram of stiffness measurement of a soft robot in direction B according to an embodiment of the present invention;

[0056] Figure 8 This is a schematic diagram of stiffness measurement of a soft robot after deformation in an embodiment of the present invention;

[0057] Fig. 9 Schematic diagram of stiffness measurement of the second soft robot in direction A in an embodiment of the present invention.

[0058] Description of reference numerals:

[0059] 1. Base; 2. Power supply; 3. Motor driver; 4. Microcontroller; 5. Data acquisition system; 6. Computer; 7. Fixed bracket; 8. First electric slide module; 9. First fixed pulley module; 10. Second electric slide module; 11. Second fixed pulley module; 12. Rope; 13. Soft robot; 14. Angle adjustment module;

[0060] 81. first motor; 82. first coupling; 83. first screw rod; 84. first slider; 85. first fixing seat; 86. second fixing seat; 87. tension sensor; 88. lifting ring; 89. displacement sensor;

[0061] 101, second motor; 102, second coupling; 103, second screw rod; 104, second slider; 105, second mounting bracket;

[0062] 141. A third motor; 142. A third coupling; 143. An adapter plate; 144. Angle sensor. DETAILED DESCRIPTION

[0063] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0064] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0065] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0066] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0068] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0069] First embodiment:

[0070] Reference Figure 1 , an embodiment of the present application provides a soft robot stiffness measurement device, including a support module;

[0071] The first electric slide module 8 is installed on the support module, and includes a first slide assembly, a tension sensor 87, a lifting ring 88 and a displacement sensor 89. The tension sensor 87 and the lifting ring 88 are both installed on the sliding part of the first slide assembly, and the lifting ring 88 is installed on the detection part of the tension sensor 87; the displacement sensor 89 is installed between the sliding part of the first slide assembly and the support module;

[0072] The first fixed pulley module 9 is mounted on the support module, and the mounting height is flush with the sliding part of the first electric slide module 8; so that the movement direction of the rope 12 connected to one side of the lifting ring 88 is consistent with the movement direction of the sliding part of the first electric slide module 8;

[0073] A direction adjustment module is installed on the support module, and includes a second electric slide module 10 and a second fixed pulley block module 11 installed on the sliding part of the second electric slide module 10;

[0074] The rope 12 is connected to the lifting ring 88 on one side, and the other side is passed through the first fixed pulley block module 9 and the second fixed pulley block module 11 in sequence and fixedly connected to the soft robot 13 to be detected. The direction adjustment module is used to adjust the direction of the rope 12 so that the connection direction of the rope 12 and the soft robot 13 to be detected is always the measured stiffness direction of the soft robot 13 to be detected; through the up and down movement of the second pulley block module 11 installed on the sliding part of the second electric slide module 10 and the reversing effect of the two fixed pulleys on the second pulley block module 11 on the rope 12, it can be ensured that when measuring the stiffness of different soft robots 13, the direction of the rope 12 connecting the soft robot 13 is always consistent and is the measured stiffness direction, and the measured stiffness direction is the horizontal direction;

[0075] The data detection control module is installed on the support module, and is used to control the first electric slide module 8 and the second electric slide module 10, and collect and analyze the real-time data of the tension sensor 87 and the displacement sensor 89 to obtain the stiffness measurement result.

[0076] The present invention discloses a soft robot stiffness measuring device. Compared with the traditional stiffness measuring equipment, the stiffness measuring device of the present invention adds a first fixed pulley block module 9 and a second fixed pulley block module 11 for switching. The first fixed pulley block module 9 can make the movement direction of the rope 12 connected to one side of the lifting ring 88 consistent with the movement direction of the sliding part of the first electric slide module 8, thereby ensuring that the tension detected by the tension sensor 87 is equal to the tension on the rope 12;

[0077] By adding the second fixed pulley block module 11, it can be ensured that when the stiffness of different soft robots 13 is measured, the direction of the rope 12 connecting the soft robots 13 is always the direction of the stiffness to be measured. The second fixed pulley block module 11 ensures that when the rope 12 pulls the soft robot 13 to be tested, the tension of the rope 12 is equal to the tension of the soft robot 13 in the direction of the stiffness to be measured.

[0078] In summary, by adding the first fixed pulley module 9 and the second fixed pulley module 11, it is ensured that when measuring the stiffness of different soft robots 13, the tension detected by the tension sensor 87 is equal to the tension of the soft robot 13 in the direction of the measured stiffness.

[0079] In some embodiments, reference Figure 1The support module includes a base 1 and a fixed bracket 7 installed on the base 1, a first electric slide module 8, a first fixed pulley module 9, and a direction adjustment module are all installed on the fixed bracket 7, and a data detection control module is installed on the base 1.

[0080] In some embodiments, the base 1 and the fixing bracket 7 are made of materials that are not prone to rust and have high supporting strength, including but not limited to SUS304.

[0081] Second embodiment:

[0082] Reference Figure 1 and Figure 4 The embodiment of the present application provides a soft robot stiffness measurement device. On the basis of the first embodiment, the embodiment adds an angle adjustment module 14 and improves the structure of the rope 12, the data detection control module, etc.

[0083] The angle adjustment module 14 is mounted on the fixed bracket 7, and the angle adjustment module 14 includes:

[0084] The connecting seat is located at one side of the direction adjustment module and is fixedly mounted on the fixing bracket 7;

[0085] The adapter plate 143 has rotating shafts fixedly installed on both sides, and the adapter plate 143 is rotatably connected to the connecting seat through the rotating shafts on both sides;

[0086] The third motor 141 is connected to the rotating shaft on one side of the adapter plate 143 through a third coupling 142 to drive the adapter plate 143 to rotate; the third motor 141 is electrically connected to the power supply 2 and the motor driver 3 respectively, wherein the power supply 2 is used to supply power to the third motor 141, and the motor driver 3 is used to transmit the motion instruction to the third motor 141 to realize the control of the third motor 141;

[0087] The angle sensor 144 is connected to the rotating shaft on the other side of the adapter plate 143 through another third coupling 142; the angle sensor 144 is electrically connected to the data detection control module. The angle sensor 144 is used to measure the rotation angle of the adapter plate 143;

[0088] In this embodiment, the soft robot 13 to be tested is fixedly mounted on the adapter plate 143. For soft robots 13 to be tested of different specifications, the present invention can use the angle adjustment module 14 to adjust the inclination angle of the adapter plate 143, and cooperate with the direction adjustment module and the rope 12 to support the stiffness measurement of a variety of different soft robots 13. The stiffness measurement in the present invention is more applicable than traditional stiffness measurement equipment.

[0089] In addition, by adding an angle adjustment module 14, in conjunction with the direction adjustment module and the rope 12, the stiffness measurement of the soft robot 13 to be tested in different directions can also be supported, with enhanced measurement performance.

[0090] In addition, through the cooperation of the direction adjustment module, the rope 12 and the angle adjustment module 14, the present invention can also realize the measurement of the stiffness of the soft robot 13 with different deformation degrees.

[0091] in, Figures 6 to 9 The present invention is a schematic diagram of using an angle adjustment module 14 to connect two different soft robots 13 to measure stiffness. The two different soft robots 13 are soft robot 1 and soft robot 2. Figure 6 and Figure 7 In the figure, the stiffness of the soft robot in direction A and direction B was measured. Figure 8 In the study, the stiffness of a soft robot was measured after deformation. Fig. 9 In the figure, the stiffness of soft robot 2 in direction A was measured.

[0092] In some embodiments, reference Figure 4 The adapter plate 143 is provided with a plurality of mounting holes to realize the installation of different soft robots 13. In addition, a clamping device can be installed in the mounting hole to realize the rapid fixation of the soft robot 13 to be detected.

[0093] In some embodiments, reference Figure 1 and Figure 5 , the data detection control module includes:

[0094] Power supply 2, used to power the entire stiffness measurement device; including other components in the data detection control module and driving components on the first electric slide module 8, the second electric slide module 10 and the angle adjustment module 14;

[0095] The data acquisition system 5 is electrically connected to the tension sensor 87, the displacement sensor 89, and the angle sensor 144, and is used to collect data from the three sensors in real time;

[0096] A computer 6 is electrically connected to the data acquisition system 5 and is used to receive data from the three sensors;

[0097] The microcontroller 4 is electrically connected to the computer 6 and is used to receive serial port instructions transmitted from the computer 6 and generate motion instructions according to the serial port instructions;

[0098] The motor driver 3 has an input end electrically connected to the microcontroller 4, and an output end electrically connected to the driving ends of the first electric slide module 8, the second electric slide module 10, and the angle adjustment module 14 respectively; it is used to drive the first electric slide module 8, the second electric slide module 10, and the angle adjustment module 14 to move according to the motion instruction.

[0099] In some embodiments, the rope 12 is a rigid pull rope to reduce the deformation of the rope 12 .

[0100] In some embodiments, reference Figure 2 , the first slide assembly comprises:

[0101] The first sliding platform is provided with a plurality of first guide shafts arranged in parallel; preferably, the number of the first guide shafts is two;

[0102] The first sliding block 84 is inserted into the two first guide shafts in the first sliding platform to achieve sliding connection between the first sliding block 84 and the first sliding platform;

[0103] A first motor 81 is mounted on the first sliding platform; the first motor 81 is electrically connected to a power supply 2 and a motor driver 3, respectively. The power supply 2 is used to supply power to the first motor 81, and the motor driver 3 is used to transmit motion instructions to the first motor 81 to control the first motor 81;

[0104] A first screw rod 83, one side of which passes through the first slider 84 and is threadedly connected to the first slider 84, and the other side of which is transmission-connected to the first motor 81 through the first coupling 82;

[0105] A first fixing seat 85 is fixedly mounted on the first sliding block 84 , and the tension sensor 87 is mounted on the first fixing seat 85 ;

[0106] The second fixing seat 86 is fixedly mounted on the first sliding block 84 . One end of the displacement sensor 89 is mounted on the second fixing seat 86 , and the other end is fixedly mounted on the supporting module.

[0107] In some embodiments, reference Figure 1 , the first fixed pulley block module 9 comprises:

[0108] A first mounting bracket is mounted on the fixing bracket 7 and is located on a side surface of the first electric slide module 8;

[0109] The two first fixed pulleys are both vertically rotatably connected to the side of the first mounting bracket, and the top surface of the uppermost first fixed pulley is flush with the sliding part of the first electric slide module 8, so that the movement direction of the rope 12 connected to one side of the lifting ring 88 is consistent with the movement direction of the sliding part of the first electric slide module 8.

[0110] In some embodiments, reference Figure 3 , the second electric slide module 10 includes:

[0111] The second sliding platform is provided with a plurality of second guide shafts arranged in parallel; preferably, the number of the second guide shafts is two;

[0112] The second slider 104 is plugged into the two second guide shafts in the second sliding platform to achieve sliding connection between the second slider 104 and the second sliding platform;

[0113] The second motor 101 is mounted on the second sliding platform; the second motor 101 is electrically connected to the power supply 2 and the motor driver 3, the power supply 2 is also used to supply power to the second motor 101, and the motor driver 3 is used to transmit motion instructions to the second motor 101 to achieve control of the second motor 101;

[0114] One side of the second screw rod 103 passes through the second slider 104 and is threadedly connected to the second slider 104 , and the other side is transmission-connected to the second motor 101 through the second coupling 102 .

[0115] In some embodiments, reference Figure 3 , the second fixed pulley block module 11 comprises:

[0116] A second mounting bracket 105 is fixedly mounted on the second sliding block 104;

[0117] The two second fixed pulleys are both vertically rotatably connected to the second mounting bracket 105 .

[0118] The stiffness measurement principle in the present invention is as follows:

[0119] First, the soft robot 13 to be tested is installed on the adapter plate 143 in the angle adjustment module 14, and the soft robot 13 is driven to the target shape when the stiffness is measured. After that, the angle adjustment module 14 is started, and the direction of the adapter plate 143 and the soft robot 13 to be tested is adjusted to the target position according to the measured stiffness direction of the soft robot 13 to be tested. After that, the second motor 101 on the second electric slide module 10 is started, and the second slider 104 is driven to drive the second fixed pulley module 11 to move to the target position, so that the direction of the rope 12 connecting the soft robot 13 is always the measured stiffness direction, that is, the horizontal direction. Through the direction adjustment module, it is ensured that the tension of the rope 12 when the rope 12 pulls the soft robot 13 to be tested is equal to the tension of the soft robot 13 in the measured stiffness direction. Afterwards, the first motor 81 on the first electric slide module 8 is started, and the first motor 81 drives the first screw rod 83 to rotate through the first coupling 82. During the rotation of the first screw rod 83, the first slider 84 is synchronously driven to move away from the soft robot 13 to be tested. The rope 12 pulls the soft robot 13 to be tested along the direction of the stiffness to be tested, and the soft robot 13 to be tested is deformed under the action of the tension. At this time, the tension of the rope 12 applied to the tension sensor 87 is read through the data acquisition system 5, and the displacement of the first slider 84 on the first electric slide module 8 is read on the displacement sensor 89, and then the stiffness of the soft robot 13 to be tested is obtained by calculation through the computer 6.

[0120] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered within the protection scope of the present invention. In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A soft robot stiffness measurement device, characterized in that: Including support module; The first electric slide module (8) is installed on the support module, and comprises a first slide assembly, a tension sensor (87), a lifting ring (88) and a displacement sensor (89), wherein the tension sensor (87) and the lifting ring (88) are both installed on the sliding part of the first slide assembly, and the lifting ring (88) is installed on the detection part of the tension sensor (87); the displacement sensor (89) is installed between the sliding part of the first slide assembly and the support module; A first fixed pulley block module (9) is mounted on the support module, and its mounting height is flush with the sliding portion of the first electric slide module (8); A direction adjustment module is installed on the support module, comprising a second electric slide module (10) and a second fixed pulley block module (11) installed on a sliding portion of the second electric slide module (10); A rope (12) is connected to a lifting ring (88) on one side and is passed through a first fixed pulley block module (9) and a second fixed pulley block module (11) in sequence on the other side and is fixedly connected to a soft robot (13) to be tested. The direction adjustment module is used to adjust the direction of the rope (12) so that the connection direction between the rope (12) and the soft robot (13) to be tested is always the direction of the stiffness to be tested of the soft robot (13) to be tested. The data detection control module is installed on the support module and is used to control the first electric slide module (8) and the second electric slide module (10), and collect and analyze the real-time data of the tension sensor (87) and the displacement sensor (89) to obtain the stiffness measurement result.

2. The soft robot stiffness measurement device according to claim 1, characterized in that: The support module comprises a base (1) and a fixed bracket (7) mounted on the base (1); a first electric slide module (8), a first fixed pulley block module (9), and a direction adjustment module are all mounted on the fixed bracket (7); and a data detection control module is mounted on the base (1).

3. The soft robot stiffness measurement device according to claim 1, characterized in that: It also includes an angle adjustment module (14), wherein the angle adjustment module (14) includes: A connecting seat, located on one side of the direction adjustment module; The adapter plate (143) is rotatably connected to the connection seat via rotating shafts on both sides; A third motor (141) is drivingly connected to a rotating shaft on one side of the adapter plate (143) to drive the adapter plate (143) to rotate; The angle sensor (144) is drivingly connected to the rotating shaft on the other side of the adapter plate (143). The angle sensor (144) is electrically connected to the data detection control module to realize the collection of the rotation angle data of the adapter plate (143).

4. The soft robot stiffness measurement device according to claim 3, characterized in that: The adapter plate (143) is provided with a plurality of mounting holes to enable the installation of different soft robots (13).

5. The soft robot stiffness measurement device according to claim 3, characterized in that: The data detection control module comprises: A power supply (2), used to supply power to the entire stiffness measuring device; A data acquisition system (5) is electrically connected to the tension sensor (87), the displacement sensor (89), and the angle sensor (144) and is used to collect data from the three sensors in real time; A computer (6), electrically connected to the data acquisition system (5), for receiving data from the three sensors; The microcontroller (4) is electrically connected to the computer (6) and is used to receive serial port instructions transmitted by the computer (6) and generate motion instructions according to the serial port instructions; A motor driver (3) has an input end electrically connected to a microcontroller (4), and an output end electrically connected to driving ends of a first electric slide module (8), a second electric slide module (10), and an angle adjustment module (14); and is used to drive the first electric slide module (8), the second electric slide module (10), and the angle adjustment module (14) to move according to a motion instruction.

6. The soft robot stiffness measurement device according to claim 1, characterized in that: The rope (12) is a rigid pull rope to reduce the deformation of the rope (12).

7. The soft robot stiffness measurement device according to claim 1, characterized in that: The first slide assembly comprises: The first sliding platform is provided with a plurality of first guide shafts arranged in parallel; A first sliding block (84) is inserted into a plurality of first guide shafts in the first sliding platform to achieve sliding connection between the first sliding block (84) and the first sliding platform; A first motor (81), mounted on the first sliding platform; A first screw rod (83), one side of which passes through the first slider (84) and is threadedly connected to the first slider (84), and the other side of which is drivingly connected to the first motor (81); A first fixed seat (85) is fixedly mounted on the first sliding block (84), and the tension sensor (87) is mounted on the first fixed seat (85); The second fixed seat (86) is fixedly mounted on the first sliding block (84); one end of the displacement sensor (89) is mounted on the second fixed seat (86) and the other end is fixedly mounted on the supporting module.

8. The soft robot stiffness measurement device according to claim 1, characterized in that: The first fixed pulley block module (9) comprises: A first mounting bracket, mounted on a side surface of the first electric slide module (8); The two first fixed pulleys are both vertically rotatably connected to the side of the first mounting bracket, and the top surface of the first fixed pulley located at the top is flush with the sliding part of the first electric slide module (8), so that the movement direction of the rope (12) connected to one side of the lifting ring (88) is consistent with the movement direction of the sliding part of the first electric slide module (8).

9. The soft robot stiffness measurement device according to any one of claims 1 to 8, characterized in that: The second electric slide module (10) comprises: The second sliding platform is provided with a plurality of second guide shafts arranged in parallel; A second sliding block (104) is plugged onto a plurality of second guide shafts in the second sliding platform to achieve sliding connection between the second sliding block (104) and the second sliding platform; A second motor (101), mounted on the second sliding platform; The second screw rod (103) has one side passing through the second slider (104) and being threadedly connected to the second slider (104), and the other side being drivingly connected to the second motor (101).

10. The soft robot stiffness measurement device according to claim 9, characterized in that: The second fixed pulley block module (11) comprises: A second mounting bracket (105) is fixedly mounted on the second sliding block (104); The two second fixed pulleys are both vertically rotatably connected to the second mounting bracket (105).

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