Clamping device, mechanical arm and workpiece recognition method

Abstract

The embodiment of the present disclosure provides a clamping device, a mechanical arm and a workpiece identification method. The clamping device has a fixed part and a clamping part. The fixed part at least includes a first fixed part and a second fixed part connected with the first fixed part. The clamping part includes a clamping base and a clamping body. The first fixed part is fixedly connected with a mechanical arm end. The second fixed part and the clamping base are locked and fixed through a quick-release locking mechanism. The clamping device of the present disclosure can realize convenient and flexible disassembly and replacement of various ultrasonic probes through the quick-release locking mechanism, and is simple to operate, highly adaptable and convenient to use.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, specifically to a clamping device, a robotic arm, and a method for identifying workpieces. Background Technology

[0002] Ultrasound diagnostic technology has been widely used in the field of medical testing. Ultrasound diagnosis applies ultrasound detection technology to the human body, measuring and understanding physiological or tissue structure data and morphology to detect diseases and provide diagnostic suggestions. Traditional ultrasound examinations are performed manually by holding the ultrasound probe. This method relies on the doctor's experience and operating skills, and prolonged hand-holding can easily lead to fatigue, resulting in unclear images and affecting diagnostic results. Robotic arms, due to their multi-degree-of-freedom movement, can effectively replace manual inspection. To facilitate ultrasound diagnosis, existing ultrasound diagnostic equipment uses a robotic arm to fix an ultrasound probe at its end, and achieves intelligent detection of the ultrasound probe through the multi-degree-of-freedom movement of the robotic arm.

[0003] Currently, the market offers a wide variety of ultrasound probes in different sizes and shapes. However, existing robotic arms are typically only suitable for clamping one type of probe and cannot flexibly change to different ultrasound probes according to the needs of different patients. This results in poor adaptability and increased ultrasound diagnostic costs. Furthermore, changing probes with existing robotic arms is cumbersome and time-consuming, leading to reduced diagnostic efficiency and a poor user experience. Summary of the Invention

[0004] To address the problems in the related technologies, this disclosure provides a clamping device, a robotic arm having the clamping device, and a workpiece identification method to overcome the shortcomings of the clamping end of the robotic arm in the prior art.

[0005] In a first aspect, this disclosure provides a clamping device for clamping an ultrasonic probe.

[0006] Specifically, the clamping device has a fixing part and a clamping part. The fixing part includes at least a first fixing part and a second fixing part connected to the first fixing part. The clamping part includes a clamping base and a clamping body. The first fixing part is fixedly connected to the end of a robotic arm. The second fixing part is locked to the clamping base by a quick-release locking mechanism. The clamping body is configured to clamp a workpiece.

[0007] In conjunction with the first aspect, in a first implementation of the first aspect of this disclosure, the quick-release locking mechanism includes at least one locking hole and a locking buckle adapted to the locking hole.

[0008] In conjunction with the first implementation of the first aspect, in the second implementation of the first aspect of this disclosure, the locking hole is disposed on the second fixing part and / or the clamping base; and the locking buckle is disposed on the clamping base and / or the second fixing part.

[0009] In conjunction with the first aspect, the first and second implementations of the first aspect, in the third implementation of the first aspect of this disclosure, the clamping device further includes a sensor fixing base and a force sensor, wherein the sensor fixing base is disposed between the first fixing part and the second fixing part and is configured to mount and fix the force sensor.

[0010] In conjunction with the third implementation of the first aspect, in the fourth implementation of the first aspect, the sensor fixture forms a receiving cavity, the force sensor is housed in the receiving cavity, and one end of the force sensor is connected to the clamping base.

[0011] In conjunction with the first aspect, the first and second implementations of the first aspect, in the fifth implementation of the first aspect of this disclosure, the clamping device further includes a laser rangefinder and a mounting base, wherein the laser rangefinder is configured to measure the workpiece size; and the mounting base is configured to fix the laser rangefinder.

[0012] In conjunction with the fifth implementation of the first aspect, in the sixth implementation of the first aspect of this disclosure, the mounting base is disposed on the side wall of the second fixing part and is a lug structure with a pivot hole.

[0013] In conjunction with the sixth implementation of the first aspect, in the seventh implementation of the first aspect of this disclosure, the laser rangefinder is pivotally connected to the mounting base via the pivot hole and a pivot shaft.

[0014] In conjunction with the seventh implementation of the first aspect, in the eighth implementation of the first aspect of this disclosure, an angle adjustment mechanism is further provided between the laser rangefinder and the mounting base, which is configured to automatically adjust the angle of the laser rangefinder relative to the second fixed part.

[0015] In conjunction with the eighth implementation of the first aspect, in the ninth implementation of the first aspect of this disclosure, the angle adjustment mechanism is a rotary motor.

[0016] In conjunction with the first aspect, in the tenth implementation of the first aspect, the clamping body is a cavity structure with one end open.

[0017] In conjunction with the first aspect and the tenth implementation of the first aspect, in the eleventh implementation of the first aspect of this disclosure, the clamping body is further provided with a fastening mechanism.

[0018] In conjunction with the eleventh implementation of the first aspect, in the twelfth implementation of the first aspect of this disclosure, the fastening mechanism includes at least a plurality of fastening holes formed on the clamping body and fastening blocks that cooperate with the fastening holes. The fastening blocks are disposed in the fastening holes and their inner surfaces press against the workpiece.

[0019] In conjunction with the twelfth implementation of the first aspect, in the thirteenth implementation of the first aspect of this disclosure, the fastening block is a locking screw.

[0020] In conjunction with the thirteenth implementation of the first aspect, in the fourteenth implementation of the first aspect of this disclosure, the locking screw has a scale line formed along its axial direction.

[0021] In conjunction with the third implementation of the first aspect, in the fifteenth implementation of the first aspect of this disclosure, the first fixing part is a flange, and the first fixing part is provided with a plurality of first connecting holes and second connecting holes. The first fixing part is connected to the end of the robotic arm through the first connecting holes; and the first fixing part is connected to the sensor mounting base through the second connecting holes.

[0022] Secondly, this disclosure provides a robotic arm for an ultrasonic testing robot, wherein the end of the robotic arm and any of the foregoing embodiments include a clamping device, the fixing part of which is connected to the end of the robotic arm.

[0023] Thirdly, this disclosure provides a method for identifying a workpiece, the method being used for detection and identification by an ultrasonic probe, comprising the following steps:

[0024] Step S1: Provide a workpiece sensing end, the workpiece sensing end including a clamping device and a measuring instrument, wherein the clamping device includes a fixing part and a clamping part, the clamping part is configured to clamp the workpiece to be identified, and the measuring instrument is disposed on the fixing part and has a degree of freedom of rotation;

[0025] Step S2: Adjust the rotation angle of the measuring instrument to detect and identify the contour of the workpiece, and obtain the first feature value of the workpiece;

[0026] Step S3: Based on the first feature value, calculate and generate the first feature data of the workpiece.

[0027] In conjunction with the third aspect, in a first implementation of the third aspect, the clamping device is the clamping device described in any of the foregoing embodiments.

[0028] In conjunction with the third aspect and the first implementation of the third aspect, in the second implementation of the third aspect of this disclosure, step S2 specifically includes the following steps:

[0029] Step S21: Control the measuring instrument to initialize to the first preset position;

[0030] Step S22: The measuring instrument emits a first detection signal to detect and identify the contour of the workpiece and obtain a first measurement value I1;

[0031] Step S23: Compare the obtained first measurement value I1 with the pre-stored reference value I0. If the judgment result shows that the first measurement value I1 is not less than the reference value I0, control the measuring instrument to rotate along the first direction by a first preset angle α1.

[0032] Step S24: The measuring instrument emits a second detection signal to detect and identify the contour of the workpiece and obtain a second measurement value I2;

[0033] Step S25: Compare the obtained second measurement value I2 with the reference value I0. When the second measurement value I2 meets the condition that it is not greater than the reference value I0, compare the first preset angle α1 with the threshold angle β. If the judgment result is that α1 is less than β, then determine the second measurement value I2 as the first feature value of the workpiece, wherein the threshold angle β is a preset threshold used to characterize the measurement accuracy.

[0034] In conjunction with the second implementation of the third aspect, in the third implementation of the third aspect of this disclosure, step S23 further includes: comparing the obtained first measurement value I1 with a reference value I0; if the determination result shows that the first measurement value I1 is less than the reference value I0, controlling the measuring instrument to rotate a second preset angle α2 along a second direction opposite to the first direction, and then continuing to execute step S22.

[0035] In conjunction with the second and third implementations of the third aspect, in the fourth implementation of the third aspect of this disclosure, step S25 further includes: comparing the obtained second measurement value I2 with the reference value I0; when the second measurement value I2 is greater than the reference value I0, controlling the measuring instrument to rotate along the first direction by a third preset angle α3; and then continuing to execute step S24.

[0036] In conjunction with the second and third implementations of the third aspect, in the fifth implementation of the third aspect of this disclosure, step S25 further includes the following steps: comparing the obtained second measurement value I2 with the reference value I0; when the second measurement value I2 satisfies the condition of not being greater than the reference value I0, comparing the first preset angle α1 with the threshold angle β; if the judgment result shows that α1 is not less than β, controlling the measuring instrument to rotate along the second direction opposite to the first direction by a fourth preset angle α4, and then continuing to execute step S22.

[0037] In conjunction with the second implementation of the third aspect, the sixth implementation of the third aspect further includes a step of automatically acquiring the reference value I0 in step S2.

[0038] In conjunction with the sixth implementation of the third aspect, in the seventh implementation of the third aspect of this disclosure, the reference value I0 is used to characterize the length dimension of the clamping part.

[0039] In conjunction with the third aspect, in an eighth implementation of the third aspect, the identification method further includes the following step: obtaining a first feature value for the clamping portion.

[0040] In conjunction with the eighth implementation of the third aspect, in the ninth implementation of the third aspect of this disclosure, the first characteristic value of the clamping part is the distance between the measuring point of the measuring instrument and the center line of the clamping part.

[0041] In conjunction with the ninth implementation of the third aspect, the tenth implementation of the third aspect of this disclosure specifically includes the following steps in step S3: calculating and generating the first feature data of the workpiece based on the first feature value of the workpiece and the first feature value of the clamping part.

[0042] In conjunction with the tenth implementation of the third aspect, in the eleventh implementation of the third aspect of this disclosure, the first feature data of the workpiece is the length dimension data of the workpiece.

[0043] In conjunction with the fourth implementation of the third aspect, in the twelfth implementation of the third aspect of this disclosure, the first preset angle α1 is equal to the third preset angle α3; and / or, the first preset angle α1 is equal to half of the second preset angle α2.

[0044] In conjunction with the fifth implementation of the third aspect, in the thirteenth implementation of the third aspect of this disclosure, the second preset angle α2 is equal to the fourth preset angle α4.

[0045] In conjunction with the third aspect, in a fourteenth implementation of the third aspect, the identification method further includes the step of acquiring second feature data of the workpiece.

[0046] In conjunction with the fourteenth implementation of the third aspect, in the fifteenth implementation of the third aspect of this disclosure, the step of obtaining the second feature data of the workpiece specifically includes:

[0047] A fastening mechanism is provided, the fastening mechanism having measuring scale lines;

[0048] The fastening mechanism is screwed onto the clamping part, and its inner side abuts against the surface of the workpiece;

[0049] Obtain the scale value of the fastening mechanism;

[0050] The second feature data of the workpiece is calculated and generated.

[0051] In conjunction with the fifteenth implementation of the third aspect, in the sixteenth implementation of the third aspect of this disclosure, the second feature data of the workpiece is the width dimension data of the workpiece.

[0052] The technical solutions provided in this disclosure may have the following beneficial effects:

[0053] The clamping device disclosed herein employs a quick-release locking mechanism, enabling convenient and flexible disassembly and replacement of various ultrasonic probes. It is simple to operate, highly adaptable, and easy to use. The robotic arm of this disclosure, with its highly integrated sensing end effector, can accurately obtain probe pressure data with high precision. Furthermore, the workpiece recognition method of this disclosure can automatically identify and measure the length and width dimensions of the ultrasonic probe, facilitating the automatic generation of an ultrasonic probe model for use in the control algorithm of the robotic arm.

[0054] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0055] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0056] Figure 1 A schematic diagram of the structure of a clamping device according to an embodiment of the present disclosure is shown;

[0057] Figure 2 An exploded schematic diagram of a clamping device according to an embodiment of the present disclosure is shown;

[0058] Figure 3 A schematic diagram illustrating a workpiece identification method according to another embodiment of the present disclosure is shown.

[0059] Figure 4 A schematic diagram illustrating a method for calculating first feature data of a workpiece according to another embodiment of the present disclosure is shown.

[0060] Figure 5 A schematic diagram illustrating a method for calculating the first feature value of a clamping portion according to another embodiment of the present disclosure is shown.

[0061] Figure 6 A flowchart illustrating a method for identifying a workpiece according to another embodiment of this disclosure is shown.

[0062] It should be understood that the dimensions of the various components shown in the accompanying drawings are not drawn to actual scale. Furthermore, the same or similar reference numerals denote the same or similar components. Detailed Implementation

[0063] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of exemplary embodiments have been omitted from the drawings.

[0064] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0065] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0066] As mentioned earlier, existing robotic arms have poor end-effector compatibility, failing to accommodate ultrasound probes of different shapes and sizes. Consequently, the entire ultrasound diagnostic equipment can only be used with a single model and size of ultrasound probe, resulting in high equipment costs. Furthermore, the end-effectors of current ultrasonic robotic arms are inconvenient to assemble and disassemble, and probe replacement is time-consuming, leading to a poor user experience. In addition, after probe replacement, the robotic arm cannot accurately obtain the probe's length and width dimensions, thus making it impossible to directly obtain the ultrasound probe model for use in the robotic arm's control algorithm.

[0067] To address the aforementioned problems, one embodiment of this disclosure provides a clamping device comprising a fixing part and a clamping part. The fixing part includes at least a first fixing part and a second fixing part connected to the first fixing part. The clamping part includes a clamping base and a clamping body. The first fixing part is fixedly connected to the end of a robotic arm, and the second fixing part is locked to the clamping base via a quick-release locking mechanism. The clamping body is configured to clamp a workpiece. The quick-release locking mechanism enables rapid assembly and disassembly of the ultrasonic probe, providing flexible operation and ease of use, and meeting the clamping requirements of various ultrasonic probes.

[0068] Figure 1 A schematic diagram of a clamping device according to an embodiment of the present disclosure is shown. Figure 2 An exploded schematic diagram of a clamping device according to an embodiment of the present disclosure is shown.

[0069] like Figure 1 and 2 As shown, a clamping device is provided to facilitate the rapid clamping of various ultrasonic probes. The clamping device has at least a fixing part 10 and a clamping part 20.

[0070] The fixing part 10 includes a first fixing part 11 and a second fixing part 12 fixedly connected to the first fixing part 11. For example... Figure 2 As shown, the first fixing part 11 is a flange structure. The flange structure has a concave stepped 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 stepped surface 13. The flange structure can be fixedly connected to the end of the robotic arm through the first connecting holes 110, and thus together with the end of the robotic arm, they form an intelligent sensing end for ultrasonic detection.

[0071] The clamping part 20 disclosed herein includes a clamping base 21 and a clamping body 22. The clamping base 21 is used for quick connection with the fixing part 10. The clamping body 22 is a cavity structure with one end open and is configured to clamp a workpiece, such as an ultrasonic probe.

[0072] Specifically, the clamping base 21 and the second fixing part 12 can be locked together by a quick-release locking mechanism 30. The quick-release locking mechanism 30 enables quick clamping and locking of the fixing part 10 and the clamping part 20, as well as quick disassembly. The quick-release locking mechanism 30 includes at least one locking hole 31 and a locking buckle 32 adapted to the locking hole 31. The locking buckle 32 can be a spring clip. When clamping is required, pressing the spring clip will cause it to deform elastically and fall into the locking hole 31 for locking. When disassembly is required, a pressing force can be applied to deform the spring clip and simultaneously apply an outward force to the clamping part 20 to pull the spring clip out of the locking hole 31, thereby separating the clamping part 20 from the fixing part 10.

[0073] Optionally, the locking hole 31 of the quick-release locking mechanism 30 can be located on the side wall of the second fixing part 12 or on the clamping base 21, and the locking buckle 32 can be formed on the clamping base 21 or on the second fixing part 12. This disclosure is in... Figure 2 The illustration exemplarily shows a locking hole 31 arranged on the second fixing part 12 and a locking buckle 32 disposed on the clamping base 21. Furthermore, those skilled in the art should understand that the arrangement and number of the locking holes and locking buckles in this disclosure can be set according to the actual structural needs of the clamping base and the second fixing part. For example, the number of locking holes and locking buckles can be one, two, or more, and they can be symmetrically arranged. All quick-release locking mechanisms employing the above structure should fall within the protection scope of this disclosure.

[0074] Preferably, the second fixing part 12 of this disclosure can be a sleeve structure, such as... Figure 2 As shown, two locking holes 31 can be symmetrically arranged on the side wall of the sleeve structure; correspondingly, the clamping base 21 can also be a sleeve structure. The inner diameter of the sleeve of the clamping base 21 is adapted to the outer diameter of the sleeve of the second fixing part 12. The locking buckle 32 is formed on the side wall of the clamping base 21, and its position and number correspond to the aforementioned locking holes 31. By pressing the locking buckle 32, the clamping part can be quickly and conveniently installed and removed, thereby realizing the convenience of workpiece (ultrasonic probe) replacement and good adaptability to different models and different manufacturers' ultrasonic probe sizes.

[0075] In one disclosed embodiment, the clamping device serves as an end-effector of an ultrasonic probe robotic arm. To accurately collect the force information of the workpiece (e.g., the ultrasonic probe), a force sensor can be integrated. Specifically, the clamping device of this disclosure further includes a force sensor 40 and a sensor mounting base 50. The sensor mounting base 50 is disposed between the first fixing part 11 and the second fixing part 12, and the force sensor 40 is housed within the force sensor mounting base 50.

[0076] The sensor mounting base 50 includes a flange base 51 and a cylindrical sleeve 52. The flange base 51 has mounting holes 510 around its perimeter, through which the sensor mounting base 50 is fixedly connected to the first fixing part 11. The cylindrical sleeve 52 forms a receiving chamber, and an opening 511 is formed on the side wall of the receiving chamber. A force sensor 40 is disposed within the receiving chamber, with one end of the force sensor 40 abutting against the flange base 51 and the other end connected to the clamping base 21. Furthermore, the sleeve of the second fixing part 12 is fitted onto the cylindrical sleeve 52, thereby fixing the second fixing part 12 to the sensor mounting base 50.

[0077] According to another embodiment of this disclosure, the clamping device further includes a measuring instrument 60 and a mounting base 70 for the measuring instrument. The measuring instrument 60 is configured to automatically measure workpiece feature data, thereby using the obtained feature data in the control algorithm of the robotic arm.

[0078] like Figure 2 As shown, the mounting base 70 is disposed on the side wall of the second fixing part 12. Those skilled in the art should understand that the mounting base 70 can be selected according to actual measurement needs. Any other position that is conducive to measuring the characteristic data of the ultrasonic probe can be used as the mounting base.

[0079] The mounting base 70 can be a lug structure with a pivot hole 71, and the measuring instrument 60 is fixedly mounted on the lug. Preferably, it also includes a pivot shaft, which can cooperate with the pivot hole 71 to realize the pivotal connection of the measuring instrument 60 relative to the mounting base 70, that is, the measuring instrument 60 can rotate relative to the mounting base 70.

[0080] To facilitate control and adjustment of the rotation angle of the measuring instrument 60, one embodiment of this disclosure provides an angle adjustment mechanism (not shown in the figure) between the measuring instrument 60 and the mounting base 70, configured to automatically adjust the angle between the measuring instrument 60 and the second fixed part 12.

[0081] Preferably, the angle adjustment mechanism can be a rotary motor.

[0082] The measuring instrument 60 disclosed herein can be a laser rangefinder used to measure first feature data of a workpiece, wherein the first feature data can be the length dimension data of the workpiece (e.g., an ultrasonic probe).

[0083] According to one embodiment of this disclosure, the clamping device further includes a fastening mechanism 80, which is disposed on the clamping body 22 for locking the workpiece. Specifically, the fastening mechanism 80 includes at least a plurality of fastening holes 81 formed on the clamping body 22, and fastening blocks 82 that cooperate with the fastening holes 81. The fastening blocks 82 can be disposed within the fastening holes 81, for example, screwed into the fastening holes 81, and the inner surface of the fastening blocks 82 presses against the workpiece for fastening and fixing.

[0084] Preferably, the fastening block 82 of this disclosure can be a fastening screw or a fastening threaded rod. More preferably, the fastening block 82 has scale lines formed in the axial direction, such as... Figure 2 As shown. In addition to its fastening function, the fastening block 82 can also be used to measure second characteristic data of the workpiece, such as the width dimension data of the ultrasonic probe.

[0085] The clamping device disclosed herein can easily and flexibly disassemble and replace various types of workpieces, with high adaptability; and it integrates a force sensor and a laser rangefinder, which can accurately obtain workpiece pressure data and automatically identify and calculate the length and width dimensions of the workpiece, facilitating the automatic generation of workpiece models.

[0086] According to another embodiment of this disclosure, a robotic arm for an ultrasonic testing robot is also provided. The robotic arm includes an end effector and a gripping device mounted on the end effector. The gripping device can be any of the gripping devices described in the foregoing embodiments. The specific structure of the gripping device will not be described further herein.

[0087] The robotic arm disclosed herein provides an end-sensing quick-release clamping device, which can be adapted to quick-release clamping of various types of ultrasonic probes, has good applicability, and can keep the end-sensing surface of the ultrasonic probe in close contact with the object being measured. Force feedback data is accurately obtained through a force sensor, and characteristic data of the ultrasonic probe is automatically obtained using a laser rangefinder, which is conducive to accurately obtaining the ultrasonic probe model for use in the control algorithm of the robotic arm.

[0088] In ultrasound diagnostic technology, an ultrasound diagnostic device is often used with multiple types and sizes of ultrasound probes. When a new ultrasound probe is installed or the ultrasound probe is replaced according to diagnostic needs, in order to accurately obtain the control algorithm of the ultrasonic robot's arm, it is necessary to re-acquire the size model of the ultrasound probe. That is, after clamping, it is necessary to re-identify and measure the length and width dimensions for use in the control algorithm of the robotic arm.

[0089] Therefore, to facilitate the acquisition of workpiece dimensional data, another embodiment of this disclosure also provides a workpiece identification method for identifying the length and width dimensions of a measuring ultrasonic probe. This identification method includes the following steps:

[0090] Step S1: Provide a workpiece sensing end, which includes a clamping device and a measuring instrument. The clamping device includes a fixing part and a clamping part. The clamping part is configured to clamp the workpiece to be identified. The measuring instrument is disposed on the fixing part and has a degree of freedom of rotation.

[0091] Step S2: Adjust the rotation angle of the measuring instrument to detect and identify the contour of the workpiece, and obtain the first feature value of the workpiece, wherein the first feature value is the distance I between the measuring point of the measuring instrument and the end of the workpiece.

[0092] Step S3: Based on the first feature value, calculate and generate the first feature data of the workpiece, which is the length data of the workpiece.

[0093] The workpiece identification method disclosed herein can adjust the angle of the measuring instrument to allow the measuring signal to detect the clamping device and / or the end of the workpiece, and obtain the first feature data of the workpiece through the measurement algorithm, which is used to obtain the model of the workpiece.

[0094] The clamping device used in the workpiece identification method can be any of the clamping devices described in the foregoing embodiments. Therefore, the specific structure of the clamping device will not be described in detail here.

[0095] In the workpiece identification method of this embodiment, step S2 may include the following steps:

[0096] Step S21: Control the measuring instrument to initialize to the first preset position;

[0097] In this step, the initialization of the measuring instrument can be achieved by controlling the measuring instrument to rotate along a first direction or a second direction to an initialization position. For example, the initialization position can be the position of a preset angle α0 between the measuring instrument and the clamping part.

[0098] It should also be noted that the first direction can be clockwise or counterclockwise, and correspondingly, the second direction can be counterclockwise or clockwise. The first and second directions depend entirely on the installation position of the measuring instrument and the observer's viewing angle.

[0099] Step S22: The measuring instrument emits a first detection signal to detect and identify the contour of the workpiece and obtain a first measurement value I1; the measuring instrument can be a laser rangefinder, the detection signal can be a detection laser beam, and the first measurement value I1 is the distance between the laser emission point of the laser rangefinder and the clamping part of the clamping device, the workpiece, or the extension line of the workpiece.

[0100] Step S23: Compare the obtained first measurement value I1 with the pre-stored reference value I0. If the judgment result shows that the first measurement value I1 is not less than the reference value I0, control the measuring instrument to rotate along the first direction by a first preset angle α1.

[0101] Before step S23, there is also a step of automatically obtaining a reference value I0, which is used to characterize the original length dimension of the clamping part, and the original length dimension of the clamping part is pre-stored in the memory.

[0102] The first measurement value I1 obtained in this step is compared with the original length value I0 of the clamping part. If the comparison result is I1≥I0, the laser rangefinder is controlled to rotate clockwise by a first preset angle α1.

[0103] Step S24: Control the measuring instrument to emit a second detection signal to detect and identify the contour of the workpiece, and obtain a second measurement value I2; the second measurement value is the measurement value obtained after the measuring instrument has undergone rotational displacement;

[0104] Step S25: Compare the obtained second measurement value I2 with the reference value I0. When the second measurement value I2 meets the condition that it is not greater than the reference value I0, compare the first preset angle α1 with a threshold angle β. If the judgment result shows that α1 is less than β, then the second measurement value I2 can be determined as the first feature value of the workpiece. The threshold angle β is a preset threshold used to characterize the measurement accuracy. This threshold angle can be adjusted according to the actual measurement accuracy requirements.

[0105] The workpiece identification method according to embodiments of this disclosure further includes the following steps:

[0106] In step S23, the obtained first measured value I1 is compared with the reference value I0. If the result indicates that the first measured value I1 is less than the reference value I0, the measuring instrument is rotated by a second preset angle α2 in a second direction opposite to the first direction (i.e., counterclockwise). Then, step S22 is executed. In this step, when I1 < I0, it indicates that the detection point of the measuring instrument has fallen on the clamping part but has not reached the end of the workpiece. That is, the angle between the measuring instrument and the clamping part is too small. Therefore, it is necessary to rotate the measuring instrument by a second preset angle in a second direction opposite to the first direction to increase the angle between the measuring instrument and the clamping part, thereby expanding the detection range of the measuring instrument. Afterward, the measuring instrument is used to measure distance, and the above operation can be repeated until the measured first measured value I1 is greater than or equal to the reference value I0.

[0107] When the first measured value I1 is greater than or equal to the reference value I0, the measuring instrument (e.g., a laser rangefinder) can be controlled to rotate along the first direction by a first preset angle α1, and the laser rangefinder can be used to continue measuring distance to obtain the second measured value I2.

[0108] In this step, the obtained second measurement value I2 is compared with the reference value I0. When the second measurement value I2 is greater than the reference value I0, the laser rangefinder is controlled to rotate along the first direction by a third preset angle α3. Then, the laser rangefinder continues to perform distance measurement. In this step, the rotation and distance measurement operations can be repeatedly performed until the measured second measurement value I2 is less than or equal to the reference value I0.

[0109] At this time, the first preset angle α1 is compared with the threshold angle β. If the result shows that α1 is not less than β, the measuring instrument is controlled to rotate a fourth preset angle α4 in a second direction opposite to the first direction. Then, step S22 is executed.

[0110] According to embodiments of this disclosure, the first preset angle α1 can be equal to the third preset angle α3; and the second preset angle α2 is equal to the fourth preset angle α4. Exemplarily, the first preset angle α1 is equal to half of the second preset angle α2. This disclosure utilizes the above-described angle control to detect the workpiece contour more quickly and accurately.

[0111] According to another embodiment of this disclosure, the identification method further includes the following steps: obtaining a first feature value of the clamping part, wherein the first feature value of the clamping part may be the distance between the measuring point of the measuring instrument and the center line of the clamping part.

[0112] After obtaining the first feature value of the workpiece and the first feature value of the clamping part, the first feature data of the workpiece can be generated through mathematical calculation methods.

[0113] Therefore, step S3 further includes the following step: calculating and generating first feature data of the workpiece based on the acquired first feature value of the workpiece and the first feature value of the clamping part. The first feature data may be the length dimension data of the workpiece.

[0114] The first characteristic data of the workpiece can be calculated using mathematical formulas. As shown in the figure, using the Pythagorean theorem, the first characteristic value of the clamping part is the short side A of the triangle, the first characteristic value of the workpiece is the hypotenuse I of the triangle, and the length of the clamping base is B1. Then the length L of the workpiece can be calculated using the following formula:

[0115]

[0116] A = 1 / 2L1 + L2 + 1 / 2L3

[0117] Where L1 is the diameter of the clamping base, L2 is the length of the fixed base, and L3 is the width of the measuring instrument.

[0118] Furthermore, in order to obtain a model of a workpiece (e.g., an ultrasonic probe), it is necessary to know the length and width dimensions of the workpiece. Therefore, the identification method of this disclosure embodiment also includes the step of obtaining second feature data of the workpiece.

[0119] The steps for obtaining the second feature data of the workpiece specifically include the following steps:

[0120] A fastening mechanism is provided, which has measuring scale lines;

[0121] Tighten the fastening mechanism onto the clamping part so that its inner side abuts against the surface of the workpiece;

[0122] Obtain the scale value of the fastening mechanism;

[0123] Calculate and generate the second feature data of the workpiece, wherein the second feature data of the workpiece is the width dimension data of the workpiece.

[0124] In this step, since the diameter of the clamping body of the clamping part is known, the width of the workpiece can be calculated based on the screw-in amount of the fastening mechanism into the clamping body and the diameter of the clamping body.

[0125] In summary, the workpiece recognition method provided in this disclosure can acquire the length and width dimensions of the workpiece, thereby enabling the construction of a workpiece model, which is convenient for application in the control algorithm of a robotic arm.

[0126] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A clamping device having a fixed portion and a clamping portion, characterized by The fixing part includes at least a first fixing part and a second fixing part connected to the first fixing part. The clamping part includes a clamping base and a clamping body. The first fixing part is fixedly connected to the end of a robotic arm. The second fixing part is locked to the clamping base by a quick-release locking mechanism. The clamping body is configured to clamp a workpiece. The clamping device further includes a sensor mounting base and a force sensor. The sensor mounting base includes a flange base and a cylindrical sleeve. The flange base is fixedly connected to the first fixing part. The cylindrical sleeve forms an accommodating chamber. The force sensor is arranged in the accommodating chamber. One end of the force sensor abuts against the flange base, and the other end of the force sensor is connected to the clamping base. The sleeve of the second fixing part is sleeved on the cylindrical sleeve to fix the second fixing part to the sensor mounting base.

2. The clamping device of claim 1, wherein The quick-release locking mechanism includes at least one locking hole and a locking buckle adapted to the locking hole.

3. The 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 provided on the clamping base and / or the second fixing part.

4. The clamping device according to any one of claims 1 to 3, characterized in that, The clamping device further includes a laser rangefinder and a mounting base, wherein the laser rangefinder is configured to measure the workpiece size; and the mounting base is configured to fix the laser rangefinder in place.

5. The clamping device according to claim 4, characterized in that, The mounting base is disposed on the side wall of the second fixing part and has a lug structure with a pivot hole.

6. The clamping device according to claim 5, characterized in that, The laser rangefinder is pivotally connected to the mounting base via the pivot hole and a pivot shaft.

7. The clamping device according to claim 6, characterized in that, An angle adjustment mechanism is also provided between the laser rangefinder and the mounting base, which is configured to automatically adjust the angle of the laser rangefinder relative to the second fixed part.

8. The clamping device according to claim 7, characterized in that, The angle adjustment mechanism is a rotary motor.

9. The clamping device according to claim 1, characterized in that, The clamping body is a cavity structure with one end open.

10. The clamping device according to claim 1 or 9, characterized in that, The clamping body is also provided with a fastening mechanism.

11. The clamping device according to claim 10, characterized in that, The fastening mechanism includes at least a plurality of fastening holes formed on the clamping body and fastening blocks that cooperate with the fastening holes. The fastening blocks are disposed in the fastening holes and their inner surfaces press against the workpiece.

12. The clamping device according to claim 11, characterized in that, The fastening block is a locking screw.

13. The clamping device according to claim 12, characterized in that, The locking screw has scale lines along its axial direction.

14. The clamping device according to claim 1, characterized in that, The first fixing part is a flange, and the first fixing part is provided with a plurality of first connecting holes and second connecting holes. The first fixing part is connected to the end of the robotic arm through the first connecting holes; and the first fixing part is connected to the sensor fixing seat through the second connecting holes.

15. A robotic arm for an ultrasonic testing robot, characterized in that: It includes a robotic arm end and a clamping device as described in any one of claims 1 to 14, wherein the fixing portion of the clamping device is connected to the robotic arm end.

16. A method for identifying a workpiece, characterized in that, The method includes the following steps: Step S1: Provide a workpiece sensing end, the workpiece sensing end including a clamping device and a measuring instrument, the clamping device being the clamping device according to any one of claims 1 to 14, wherein the clamping device includes a fixing part and a clamping part, the clamping part being configured to clamp the workpiece to be identified, and the measuring instrument being disposed on the fixing part and having a degree of freedom of rotation; Step S2: Adjust the rotation angle of the measuring instrument to detect and identify the contour of the workpiece, and obtain the first feature value of the workpiece; Step S3: Based on the first feature value, calculate and generate the first feature data of the workpiece.

17. The workpiece identification method according to claim 16, characterized in that: Step S2 specifically includes the following steps: Step S21: Control the measuring instrument to initialize to the first preset position; Step S22: The measuring instrument emits a first detection signal to detect and identify the contour of the workpiece and obtain a first measurement value I1; Step S23: Compare the obtained first measurement value I1 with the pre-stored reference value I0. If the judgment result shows that the first measurement value I1 is not less than the reference value I0, control the measuring instrument to rotate along the first direction by a first preset angle α1. Step S24: The measuring instrument emits a second detection signal to detect and identify the contour of the workpiece and obtain a second measurement value I2; Step S25: Compare the obtained second measurement value I2 with the reference value I0. When the second measurement value I2 meets the condition that it is not greater than the reference value I0, compare the first preset angle α1 with the threshold angle β. If the judgment result is that α1 is less than β, then determine the second measurement value I2 as the first feature value of the workpiece, wherein the threshold angle β is a preset threshold used to characterize the measurement accuracy.

18. The workpiece identification method according to claim 17, characterized in that: Step S23 further includes: comparing the obtained first measurement value I1 with a reference value I0; if the determination result shows that the first measurement value I1 is less than the reference value I0, controlling the measuring instrument to rotate a second preset angle α2 in a second direction opposite to the first direction, and then continuing to execute step S22.

19. The workpiece identification method according to claim 17 or 18, characterized in that: Step S25 further includes: comparing the obtained second measurement value I2 with the reference value I0; when the second measurement value I2 is greater than the reference value I0, controlling the measuring instrument to rotate a third preset angle α3 along the first direction; and then continuing to execute step S24.

20. The workpiece identification method according to claim 17 or 18, characterized in that: Step S25 further includes the following steps: comparing the obtained second measurement value I2 with the reference value I0; when the second measurement value I2 meets the condition of not being greater than the reference value I0, comparing the first preset angle α1 with the threshold angle β; if the judgment result shows that α1 is not less than β, controlling the measuring instrument to rotate a fourth preset angle α4 along a second direction opposite to the first direction, and then continuing to execute step S22.

21. The workpiece identification method according to claim 17, characterized in that: Step S2 also includes the step of automatically obtaining the reference value I0.

22. The workpiece identification method according to claim 21, characterized in that: The reference value I0 is used to characterize the length of the clamping part.

23. The workpiece identification method according to claim 16, characterized in that: The identification method further includes the following step: obtaining a first feature value for the clamping part.

24. The workpiece identification method according to claim 23, characterized in that: The first characteristic value of the clamping part is the distance between the measuring point of the measuring instrument and the center line of the clamping part.

25. The workpiece identification method according to claim 24, characterized in that: Step S3 specifically includes the following steps: calculating and generating the first feature data of the workpiece based on the first feature value of the workpiece and the first feature value of the clamping part.

26. The workpiece identification method according to claim 25, characterized in that: The first characteristic data of the workpiece is the length dimension data of the workpiece.

27. The workpiece identification method according to claim 19, characterized in that, The first preset angle α1 is equal to the third preset angle α3; and / or, the first preset angle α1 is equal to half of the second preset angle α2.

28. The workpiece identification method according to claim 20, characterized in that, The second preset angle α2 is equal to the fourth preset angle α4.

29. The workpiece identification method according to claim 16, characterized in that: The identification method further includes the step of acquiring second feature data of the workpiece.

30. The workpiece identification method according to claim 29, characterized in that: The step of obtaining the second feature data of the workpiece specifically includes: A fastening mechanism is provided, the fastening mechanism having measuring scale lines; The fastening mechanism is screwed onto the clamping part, and its inner side abuts against the surface of the workpiece; Obtain the scale value of the fastening mechanism; The second feature data of the workpiece is calculated and generated.

31. The workpiece identification method according to claim 30, characterized in that: The second characteristic data of the workpiece is the width dimension data of the workpiece.

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