CN220128831U - Clamping device and mechanical arm - Google Patents
Clamping device and mechanical arm Download PDFInfo
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- CN220128831U CN220128831U CN202321505931.8U CN202321505931U CN220128831U CN 220128831 U CN220128831 U CN 220128831U CN 202321505931 U CN202321505931 U CN 202321505931U CN 220128831 U CN220128831 U CN 220128831U
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- 238000003745 diagnosis Methods 0.000 description 10
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Abstract
The embodiment of the utility model provides a clamping device and a mechanical arm, wherein the clamping device is provided with a fixing part and a clamping part, the fixing part at least comprises a first fixing part and a second fixing part connected with the first fixing part, the clamping part comprises a clamping base and a clamping body, the first fixing part is fixedly connected with the tail end of the mechanical arm, and locking fixation is realized between the second fixing part and the clamping base through a quick-release locking mechanism. The clamping device provided by the utility model adopts the quick-release locking mechanism, so that various ultrasonic probes can be conveniently and flexibly disassembled and replaced, and the clamping device is simple to operate, high in adaptability and convenient to use.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a clamping device and a mechanical arm.
Background
Ultrasonic diagnosis technology has been widely used in the field of medical detection, and ultrasonic diagnosis is a diagnostic method in which ultrasonic detection technology is applied to a human body, and physiological or tissue structure data and morphology are known by measurement, so that diseases are found and a prompt is given. The traditional ultrasonic examination is carried out by manually holding an ultrasonic probe, the mode depends on the experience and operation method of doctors, and long-time holding is easy to generate fatigue, so that imaging is unclear, and the diagnosis result is affected. The mechanical arm can displace in multiple degrees of freedom, and can well replace manual detection. In order to cooperate with ultrasonic diagnosis, the existing ultrasonic diagnosis equipment fixes an ultrasonic probe through the front end of a mechanical arm, and realizes intelligent detection of the ultrasonic probe through the multi-degree-of-freedom motion of the mechanical arm.
The ultrasonic probes in the current market are various in variety, different in size and different in modeling, but the existing mechanical arm is generally only suitable for clamping probes of one type, and different ultrasonic probes cannot be flexibly replaced according to the needs of different patients, so that the suitability of the ultrasonic probes is poor, and the ultrasonic diagnosis cost is increased; moreover, the existing mechanical arm is complex in operation when the probe is replaced, long in time, low in diagnosis efficiency and poor in user experience.
Disclosure of Invention
In order to solve the problems in the related art, embodiments of the present utility model provide a clamping device and a mechanical arm with the clamping device, so as to overcome the defects of the clamping end of the mechanical arm in the prior art.
In a first aspect, an embodiment of the present utility model provides a clamping device for clamping an ultrasonic probe.
Specifically, the clamping device is provided with a fixing portion and a clamping portion, the fixing portion at least comprises a first fixing portion and a second fixing portion connected with the first fixing portion, the clamping portion comprises a clamping base and a clamping body, the first fixing portion is fixedly connected with the tail end of a mechanical arm, locking fixation is achieved between the second fixing portion and the clamping base through a quick-release locking mechanism, and the clamping body is configured to clamp a workpiece.
With reference to the first aspect, in a first implementation manner of the first aspect, the quick-release locking mechanism includes at least one locking hole and a locking buckle adapted to the locking hole.
With reference to the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the locking hole is disposed on the second fixing portion and/or the clamping base; and the locking buckle is arranged on the clamping base and/or the second fixing part.
With reference to the first aspect and the first and second implementation manners of the first aspect, in a third implementation manner of the first aspect, the clamping device further includes a sensor fixing seat and a force sensor, where the sensor fixing seat is disposed between the first fixing portion and the second fixing portion, and is configured to mount and fix the force sensor.
With reference to the third implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the sensor fixing base forms a containing cavity, and the force sensor is contained in the containing cavity, and one end of the force sensor is connected with the clamping base.
With reference to the first aspect and the first and second implementation manners of the first aspect, in a fifth implementation manner of the first aspect, the clamping device further includes a laser rangefinder and a mounting base, where the laser rangefinder is configured to measure a workpiece size; the mount is configured to fixedly mount the laser rangefinder.
With reference to the fifth implementation manner of the first aspect, in a sixth implementation manner of the first aspect, the mounting seat is disposed at a side wall of the second fixing portion, and is a lug structure with a pivot hole.
With reference to the sixth implementation manner of the first aspect, in a seventh implementation manner of the first aspect, the laser rangefinder is pivotally connected to the mounting base through the pivot hole and a pivot shaft.
With reference to the seventh implementation manner of the first aspect, in an eighth implementation manner of the first aspect, an angle adjusting mechanism is further disposed between the laser rangefinder and the mounting base, and is configured to automatically adjust an angle of the laser rangefinder relative to the second fixing portion.
With reference to the eighth implementation manner of the first aspect, in a ninth implementation manner of the first aspect, the angle adjusting mechanism is a rotary motor.
With reference to the first aspect, in a tenth implementation manner of the first aspect, the clamping body is a cavity structure with an open end.
With reference to the first aspect and the tenth implementation manner of the first aspect, in an eleventh implementation manner of the first aspect, a fastening mechanism is further provided on the clamping body.
With reference to the eleventh implementation manner of the first aspect, in a twelfth implementation manner of the first aspect, the fastening mechanism at least includes a plurality of fastening holes formed on the clamping body and fastening blocks matched with the fastening holes, the fastening blocks are disposed in the fastening holes, and inner side surfaces of the fastening blocks press the workpiece.
With reference to the twelfth implementation manner of the first aspect, in a thirteenth implementation manner of the first aspect, the fastening block is a locking screw.
With reference to the thirteenth implementation manner of the first aspect, in a fourteenth implementation manner of the first aspect, scale lines are formed in an axial direction of the locking screw.
With reference to the third implementation manner of the first aspect, in a fifteenth implementation manner of the first aspect, the first fixing portion is a flange, a plurality of first connection holes and second connection holes are formed in the first fixing portion, and the first fixing portion is connected with the tail end of the mechanical arm through the first connection holes; and the first fixing part is connected with the sensor fixing seat through the second connecting hole.
In a second aspect, an embodiment of the present utility model provides a mechanical arm for an ultrasonic inspection robot, where a distal end of the mechanical arm and the clamping device of any one of the previous embodiments are connected to a fixing portion of the clamping device.
The technical scheme provided by the embodiment of the utility model can have the following beneficial effects:
the clamping device provided by the utility model has the advantages that the quick-release locking mechanism is adopted, so that various ultrasonic probes can be conveniently and flexibly disassembled and replaced, the operation is simple, the adaptability is high, and the use is convenient; the mechanical arm with the high-integration sensing tail end can accurately acquire the pressure data of the probe, and the acquired pressure data has high accuracy.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the utility model as claimed.
Drawings
Other features, objects and advantages of the present utility model will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:
fig. 1 shows a schematic structure of a clamping device according to an embodiment of the utility model;
FIG. 2 shows an exploded view of a clamping device according to an embodiment of the utility model;
FIG. 3 illustrates a schematic diagram of a method of identifying a workpiece in accordance with another embodiment of the utility model;
FIG. 4 is a schematic diagram showing a method for calculating first characteristic data of a workpiece according to another embodiment of the utility model;
fig. 5 is a schematic diagram showing a method for calculating a first characteristic value of a clamping portion according to another embodiment of the present utility model;
fig. 6 shows a flow chart of a method of identifying a workpiece according to another embodiment of the utility model.
It should be understood that the dimensions of the various elements shown in the figures are not drawn to actual scale. Further, the same or similar reference numerals denote the same or similar members.
Detailed Description
Hereinafter, exemplary embodiments of the present utility model will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. In addition, for the sake of clarity, portions irrelevant to description of the exemplary embodiments are omitted in the drawings.
In the present utility model, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in the present specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, acts, components, portions, or combinations thereof are present or added.
In addition, it should be noted that, without conflict, the embodiments of the present utility model and the features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.
In the foregoing, the existing mechanical arm clamping end has poor adaptability, and cannot meet the clamping of ultrasonic probes with different shapes and sizes, so that the whole ultrasonic diagnostic equipment can only be suitable for ultrasonic probes with single model and size, and the equipment cost is high; moreover, the clamping tail end of the ultrasonic mechanical arm in the current market is inconvenient to assemble and disassemble, the probe is long in time consumption, and the user experience is poor; in addition, after the probe is replaced, the mechanical arm cannot accurately acquire the length and width dimensions of the probe, so that an ultrasonic probe model cannot be directly acquired for a control algorithm of the mechanical arm.
In order to solve the above-mentioned problems, an embodiment of the present utility model provides a clamping device, which has a fixing portion and a clamping portion, wherein the fixing portion at least includes a first fixing portion and a second fixing portion connected to the first fixing portion, the clamping portion includes a clamping base and a clamping body, the first fixing portion is fixedly connected to a distal end of a mechanical arm, the second fixing portion and the clamping base are locked and fixed by a quick-release locking mechanism, and the clamping body is configured to clamp a workpiece. Quick assembly disassembly of the ultrasonic probe is realized through the design of the quick assembly disassembly locking mechanism, the operation is flexible, the use is convenient, and the clamping requirements of various ultrasonic probes can be met.
Fig. 1 shows a schematic structure of a clamping device according to an embodiment of the utility model. Fig. 2 shows an exploded schematic view of a clamping device according to an embodiment of the utility model.
As shown in fig. 1 and 2, a clamping device can meet the requirement of quick clamping of various ultrasonic probes. The clamping device has at least a fixing portion 10 and a clamping portion 20.
The fixing portion 10 includes a first fixing portion 11 and a second fixing portion 12 fixedly connected to the first fixing portion 11. As shown in fig. 2, the first fixing portion 11 is a flange structure, the flange structure is formed with a concave step surface 13, a plurality of first connecting holes 110 are machined on the concave bottom surface, a plurality of second connecting holes 111 are formed on the step surface 13, and the flange structure can be fixedly connected with the tail end of the mechanical arm through the first connecting holes 110, so as to form an intelligent sensing tail end for ultrasonic detection together with the tail end of the mechanical arm.
The clamping part 20 of the present utility model includes a clamping base 21 and a clamping body 22, the clamping base 21 is used for quick connection with the fixing part 10, and the clamping body 22 is a cavity structure with one end open and is configured to clamp a workpiece, such as an ultrasonic probe.
Specifically: the clamping base 21 and the second fixing portion 12 can be locked and fixed by a quick release locking mechanism 30, and the quick release locking mechanism 30 can realize quick clamping and locking and quick release of the fixing portion 10 and the clamping portion 20. The quick release locking mechanism 30 includes at least one locking hole 31 and a locking buckle 32 matching with the locking hole 31, the locking buckle 32 can be a spring plate, when the clamping connection is needed, the spring plate can be pressed to enable the spring plate to elastically deform and then fall into the locking hole 31 to be locked and fixed, when the disassembly and assembly are needed, a pressing force can be provided to enable the spring plate to deform and simultaneously apply an outward acting force to the clamping part 20 so as to pull the spring plate out of the locking hole 31 to separate the clamping part 20 from the fixing part 10.
Alternatively, the locking hole 31 of the quick release locking mechanism 30 may be disposed at a side wall of the second fixing portion 12, and may also be disposed on the clamping base 21, and the locking buckle 32 may be formed on the clamping base 21, and may also be formed on the second fixing portion 12. The utility model is illustrated in fig. 2 by way of example in that a locking hole 31 is arranged on the second fixing portion 12 and a locking catch 32 is arranged on the clamping base 21. In addition, it should be understood by those skilled in the art that the arrangement positions and the number of the structures of the locking holes and the locking buckles of the present utility model may be set according to the actual structural requirements of the actual clamping base and the second fixing portion, for example, the number of the locking holes and the locking buckles may be one, two or more, and symmetrically arranged, and all quick-release locking mechanisms adopting the above structures should fall within the protection scope of the present utility model.
Preferably, the second fixing portion 12 of the present utility model may be a sleeve structure, as shown in fig. 2, where two locking holes 31 may be symmetrically disposed at a side wall of the sleeve structure; correspondingly, the clamping base 21 may also be a sleeve structure, the sleeve inner diameter of the clamping base 21 is matched with the sleeve outer diameter of the second fixing portion 12, the locking buckle 32 is formed at the side wall of the clamping base 21, the setting positions and the number of the locking buckles correspond to those of the locking holes 31, and the clamping portion can be rapidly and conveniently assembled and disassembled by pressing the locking buckle 32, so that convenience of workpiece (ultrasonic probe) replacement and good adaptability to ultrasonic probe sizes of different models and different manufacturers can be realized.
In an embodiment of the utility model, the clamping device is used as an end sensing mechanism of the mechanical arm of the ultrasonic probe, and a force sensor can be integrally installed for accurately collecting the stress condition of a workpiece (such as an ultrasonic probe). Specifically, the clamping device of the present utility model further includes a force sensor 40 and a sensor holder 50. The sensor holder 50 is disposed between the first fixing portion 11 and the second fixing portion 12, and the force sensor 40 is accommodated in the force sensor holder 50.
The sensor fixing seat 50 includes a flange base 51 and a cylindrical sleeve 52, wherein a fixing hole 510 is formed around the flange base 51, the sensor fixing seat 50 is fixedly connected with the first fixing portion 11 through the fixing hole 510, the cylindrical sleeve 52 is formed with a accommodating chamber, an opening 511 is formed at a side wall of the accommodating chamber, the force sensor 40 is disposed in the accommodating chamber, one end of the force sensor 40 abuts against the flange base 51, and the other end is connected with the clamping base 21. In addition, the sleeve of the second fixing portion 12 is sleeved on the cylindrical sleeve 52 so as to fix the second fixing portion 12 and the sensor fixing base 50.
According to another embodiment of the utility model, the clamping device further comprises a measuring instrument 60 and a mounting seat 70 for the measuring instrument. Wherein the measuring instrument 60 is configured to automatically measure the workpiece characteristic data, such that the characteristic data obtained is used in a control algorithm of the robotic arm.
As shown in fig. 2, the mounting seat 70 is disposed at a side wall of the second fixing portion 12, and it should be understood by those skilled in the art that the location of the mounting seat 70 may be selected according to actual measurement needs, and any other location that is beneficial to measuring the characteristic data of the ultrasonic probe may be used as the location of the mounting seat.
The mounting block 70 may be a lug structure having a pivot hole 71 where the measuring instrument 60 is fixedly mounted. Preferably, a pivot shaft is further included, which can cooperate with the pivot hole 71 to achieve a pivotal connection of the measuring instrument 60 with respect to the mounting base 70, i.e. the measuring instrument 60 can rotate with respect to the mounting base 70.
To facilitate controlling and adjusting the rotation angle of the measuring instrument 60, an embodiment of the present utility model provides an angle adjusting mechanism (not shown) between the measuring instrument 60 and the mounting base 70, configured to automatically adjust the angle between the measuring instrument 60 relative to the second fixing portion 12.
Preferably, the angle adjustment mechanism may be a rotary motor.
The measuring instrument 60 of the present utility model may be a laser rangefinder for measuring first characteristic data of a workpiece, wherein the first characteristic data may be length dimension data of the workpiece (e.g., of an ultrasonic probe).
According to an embodiment of the present utility model, the clamping device further includes a fastening mechanism 80, and the fastening mechanism 80 is disposed on the clamping body 22 for locking the workpiece. Specifically, the fastening mechanism 80 at least includes a plurality of fastening holes 81 formed on the clamping body 22, and fastening blocks 82 matched with the fastening holes 81, the fastening blocks 82 may be disposed in the fastening holes 81, for example, screwed into the fastening holes 81, and the inner side surfaces of the fastening blocks 82 compress the workpiece for fastening and fixing.
Preferably, the fastening block 82 of the present utility model may be a fastening screw or a fastening screw rod. More preferably, the fastening block 82 is formed with graduation marks in the axial direction as shown in fig. 2. In addition to the fastening action, the fastening block 82 can also be used for measuring second characteristic data of the workpiece, such as width dimension data of an ultrasonic probe.
The clamping device can be used for conveniently and flexibly dismounting and replacing various types of workpieces, and has high adaptability; and the force sensor and the laser range finder are integrated, so that the workpiece pressure data and the length and width dimension data of the workpiece can be accurately obtained and automatically identified and calculated, and the workpiece model can be automatically generated conveniently.
According to still another embodiment of the present utility model, there is also provided a robot arm for an ultrasonic inspection robot, the robot arm including a robot arm end and a clamping device mounted to the robot arm end. The clamping device may be as described in any of the previous embodiments. The specific structure of the clamping device is not described herein.
The mechanical arm provided by the utility model provides a quick-release clamping device with end sensing, the clamping device can be suitable for quick-assembly and quick-clamping of ultrasonic probes of various types, the applicability is good, the acquisition surface of the tail end of the ultrasonic probe is always clung to an object to be measured, force feedback data are accurately acquired through a force sensor, and characteristic data of the ultrasonic probe are automatically acquired through a laser range finder, so that an ultrasonic probe model can be accurately acquired, and the quick-release clamping device is used in a control algorithm of the mechanical arm.
In the ultrasonic diagnosis technology, an ultrasonic diagnosis device is often matched with ultrasonic probes of various types and sizes, when the ultrasonic probes are newly installed or replaced according to diagnosis requirements, in order to accurately obtain a control algorithm of a mechanical arm of an ultrasonic robot, a size model of the ultrasonic probe needs to be re-obtained, namely, measured length size data and width size data need to be re-identified after clamping so as to be used in the control algorithm of the mechanical arm.
Therefore, in order to facilitate acquiring dimension data of a workpiece, still another embodiment of the present utility model also provides a method of identifying a workpiece for identifying length dimension data and width dimension data of a measurement ultrasonic probe, the method comprising the steps of:
step S1: providing a workpiece sensing end which comprises a clamping device and a measuring instrument, wherein the clamping device comprises a fixing part and a clamping part, the clamping part is configured to clamp a workpiece to be identified, and the measuring instrument is arranged on the fixing part and has a rotating degree of freedom;
step S2: adjusting the rotation angle of the measuring instrument to detect and identify the outline of the workpiece, and obtaining a first characteristic value of the workpiece, wherein the first characteristic value is the distance I between the measuring point of the measuring instrument and the tail end of the workpiece;
step S3: and calculating and generating first characteristic data of the workpiece based on the first characteristic value, wherein the first characteristic data is length data of the workpiece.
According to the workpiece identification method, the angle of the measuring instrument can be adjusted, the measuring signal can detect the tail end of the clamping device and/or the workpiece, and the first characteristic data of the workpiece can be obtained through the measuring algorithm and used for obtaining the model of the workpiece.
The clamping device applied in the workpiece recognition method may be the clamping device described in any one of the foregoing embodiments. Therefore, the specific structure of the clamping device is not described herein.
In the workpiece identifying method of this embodiment, in step S2, the following steps may be included:
step S21: controlling the measuring appliance to be initialized to a first preset position;
in this step, the initialization of the measuring instrument may be to control the rotation of the measuring instrument in the first direction or the second direction to an initialization position, which may be, for example, a preset angle α between the measuring instrument and the clamping portion 0 Is a position of (c).
The utility model also provides that the first direction may be clockwise or counter-clockwise, and the second direction may be counter-clockwise or clockwise, respectively, the first direction and the second direction being dependent entirely on the mounting position of the measuring instrument and the viewing angle of the observer.
Step S22: the measuring instrument emits a first detection signal to detect and identify the contour of the workpiece and obtain a first measured value I 1 The method comprises the steps of carrying out a first treatment on the surface of the The measuring instrument may be a laser range finder, the detection signal may be a detection laser beam, the first measurement value I 1 Is the distance between the laser emission point of the laser range finder and the clamping part of the clamping device, the workpiece or the workpiece extension line.
Step S23: first measured value I to be obtained 1 With a prestored reference value I 0 Comparing, if the judgment result shows that the first measured value I 1 Not less than reference value I 0 When the measuring instrument is controlled to rotate along the first direction by a first preset angle alpha 1 ；
Before step S23, the method also comprises the step of automatically acquiring a reference value I 0 The reference value I 0 For characterizing the original length dimension of the gripping portion, which is pre-stored in the memory.
The first measured value obtained in the step is used forI 1 And the original length value I of the clamping part 0 Comparing if the comparison result is I 1 ≥I 0 Then the laser range finder is controlled to rotate a first preset angle alpha along the clockwise direction 1 ；
Step S24: controlling the measuring instrument to emit a second detection signal to detect and identify the contour of the workpiece and obtain a second measurement value I 2 The method comprises the steps of carrying out a first treatment on the surface of the The second measured value is a measured value obtained by measuring after the measuring instrument is rotationally shifted;
step S25: second measurement value I to be obtained 2 And reference value I 0 Comparing when the second measured value I 2 Meets and is not greater than the reference value I 0 Under the condition, the first preset angle alpha 1 Comparing with a threshold angle beta, if the judgment result shows alpha 1 Smaller than beta, then a second measurement I can be determined 2 As a first characteristic value of the workpiece, a threshold angle β is a preset threshold value for characterizing the measurement accuracy, which can be adjusted according to the actual measurement accuracy requirements.
The workpiece identification method according to the embodiment of the utility model further comprises the following steps:
in step S23, the obtained first measurement value I 1 And the reference value I 0 Comparing, if the judgment result shows that the first measured value I 1 Less than the reference value I 0 Controlling the measuring instrument to rotate a second preset angle alpha along a second direction (namely, anticlockwise direction) opposite to the first direction 2 After that, step S22 is continued. In this step, when I 1 ＜I 0 When the detection point of the measuring instrument falls on the clamping part and does not reach the tail end of the workpiece, namely, the included angle between the measuring instrument and the clamping part is too small, the measuring instrument needs to be rotated by a second preset angle along a second direction opposite to the first direction so as to increase the included angle between the measuring instrument and the clamping part, and the detection range of the measuring instrument is enlarged. After that, the distance measurement is carried out by using the measuring instrument, and the operation can be repeatedly carried out until the first measured value I is obtained 1 Greater than or equal to the reference value I 0 。
When the first measured value I 1 Meet or not less than the reference value I 0 When the measuring instrument (such as a laser range finder) is rotated by a first preset angle alpha along a first direction 1 And continuing to measure the distance by using a laser distance meter to obtain a second measured value I 2 。
In this step, a second measurement value I is to be obtained 2 And reference value I 0 Comparing when the second measured value I 2 Greater than reference value I 0 When the laser distance measuring device is rotated along the first direction by a third preset angle alpha 3 Then, the laser distance measuring device is used for measuring distance continuously, and the rotation and distance measuring operation can be repeatedly performed until the second measured value I is obtained 2 Less than or equal to the reference value I 0 。
At this time, the first preset angle alpha 1 Comparing with a threshold angle beta, if the judgment result shows alpha 1 When the value is not smaller than beta, the measuring instrument is controlled to rotate by a fourth preset angle alpha along a second direction opposite to the first direction 4 After that, step S22 is continued.
According to an embodiment of the utility model, wherein the first preset angle α 1 May be equal to a third preset angle alpha 3 The method comprises the steps of carrying out a first treatment on the surface of the And a second preset angle alpha 2 Equal to a fourth preset angle alpha 4 And illustratively, a first predetermined angle alpha 1 Equal to one-half of a second preset angle alpha 2 . The utility model can detect the outline of the workpiece more quickly and accurately by adopting the angle control.
According to another embodiment of the utility model, the identification method further comprises the steps of: a first characteristic value about the grip portion is obtained, which may be a distance between a measurement point of the measuring instrument and a grip portion centerline.
After the first characteristic value of the workpiece and the first characteristic value of the clamping part are obtained, first characteristic data of the workpiece can be generated through a mathematical calculation method.
Thus in step S3, the following steps are also included: and calculating and generating first characteristic data of the workpiece based on the acquired first characteristic value of the workpiece and the first characteristic value of the clamping part. The first characteristic data may be length dimension data of the workpiece.
The first characteristic data of the workpiece can be obtained by calculation through a mathematical formula, as shown in the figure, the first characteristic value of the clamping part is a short side A of a triangle, the first characteristic value of the workpiece is a hypotenuse I of the triangle, and the length B1 of the clamping base, then the length L of the workpiece can be obtained by calculation through the following formula:
A＝1/2L1+L2+1/2L3
wherein L1 is the diameter of the clamping base, L2 is the length of the fixing seat, and L3 is the width of the measuring instrument.
In addition, in order to obtain a model of a workpiece (e.g., an ultrasonic probe), it is necessary to know the length dimension data and the width dimension data of the workpiece, and therefore, the identification method of the embodiment of the present utility model further includes a step of acquiring second characteristic data of the workpiece.
The step of acquiring second characteristic data of the workpiece specifically comprises the following steps:
providing a fastening mechanism, wherein the fastening mechanism is provided with scale marks for measurement;
screwing the fastening mechanism on the clamping part to enable the inner side surface of the fastening mechanism to be abutted against the surface of the workpiece;
acquiring a scale value of a fastening mechanism;
and calculating and generating second characteristic data of the workpiece, wherein the second characteristic data of the workpiece are width dimension data of the workpiece.
In this step, since the diameter size of the clamping body of the clamping portion is known, the width size data of the workpiece can be calculated from the screw amount of the fastening mechanism screwed into the clamping body and the diameter size information of the clamping body.
In summary, the workpiece identification method provided by the utility model can acquire the length dimension data and the width dimension data of the workpiece, so that a model of the workpiece can be constructed, and the workpiece identification method is convenient to apply to a control algorithm of a mechanical arm.
The above description is only illustrative of the preferred embodiments of the present utility model and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the utility model referred to in the present utility model is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present utility model (but not limited to) having similar functions are replaced with each other.
Claims (17)
1. The utility model provides a clamping device, has fixed part and clamping part, its characterized in that, fixed part include at least first fixed part and with the second fixed part that first fixed part is connected, clamping part includes clamping base and centre gripping body, wherein, first fixed part and a arm end fixed connection, second fixed part with realize through a quick detach locking mechanism that the locking is fixed between the clamping base, the centre gripping body is configured to the centre gripping work piece.
2. The clamping device as claimed in claim 1, characterized in that the quick release locking mechanism comprises at least one locking hole and a locking catch adapted to the locking hole.
3. Clamping device according to claim 2, characterized in that the locking hole is provided on the second fixing part and/or the clamping base; the locking buckle is arranged on the clamping base and/or the second fixing part.
4. A clamping device as claimed in any of claims 1 to 3, further comprising a sensor holder and a force sensor, the sensor holder being arranged between the first and second fixing portions and being configured to mount and fix the force sensor.
5. The clamping device of claim 4, wherein the sensor holder defines a receiving chamber, the force sensor is received in the receiving chamber, and one end of the force sensor is connected to the clamping base.
6. A clamping device according to any of claims 1 to 3, further comprising a laser rangefinder and a mount, wherein the laser rangefinder is configured to measure workpiece dimensions; the mount is configured to fixedly mount the laser rangefinder.
7. The clamping device as claimed in claim 6, wherein the mounting seat is disposed at a side wall of the second fixing portion and is a lug structure having a pivot hole.
8. The clamping device of claim 7, wherein the laser rangefinder is pivotally coupled to the mount via the pivot hole and a pivot shaft.
9. The clamping device of claim 8, wherein an angle adjustment mechanism is further provided between the laser rangefinder and the mounting base and is configured to automatically adjust the angle of the laser rangefinder relative to the second stationary portion.
10. The clamping device of claim 9, wherein the angle adjustment mechanism is a rotary motor.
11. The clamping device as claimed in claim 1, wherein the clamping body is a cavity structure with one end open.
12. Clamping device according to claim 1 or 11, characterized in that the clamping body is further provided with a fastening mechanism.
13. A clamping device according to claim 12, wherein the fastening mechanism comprises at least fastening holes formed in the clamping body and fastening blocks cooperating with the fastening holes, the fastening blocks being arranged in the fastening holes and having inner sides pressing against the workpiece.
14. The clamping device of claim 13, wherein the fastening block is a locking screw.
15. The clamping device as claimed in claim 14, characterized in that graduation marks are formed in the axial direction of the locking screw.
16. The clamping device according to claim 4, wherein the first fixing portion is a flange, a plurality of first connecting holes and second connecting holes are formed in the first fixing portion, and the first fixing portion is connected with the tail end of the mechanical arm through the first connecting holes; and the first fixing part is connected with the sensor fixing seat through the second connecting hole.
17. A arm for ultrasonic testing robot, its characterized in that: comprising a robot arm tip and a clamping device according to any of claims 1 to 16, the fixing part of the clamping device being connected to the robot arm tip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321505931.8U CN220128831U (en) | 2023-06-14 | 2023-06-14 | Clamping device and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321505931.8U CN220128831U (en) | 2023-06-14 | 2023-06-14 | Clamping device and mechanical arm |
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