A mechanical gripper

Abstract

This invention discloses a robotic gripper, relating to the field of ultrasonic testing technology. It includes a support, a drive rod, a transmission mechanism, and two gripper assemblies. The drive rod, the transmission mechanism, and the gripper assemblies are all mounted on the support. The two gripper assemblies are symmetrically arranged. The drive rod, through the transmission mechanism, enables the two gripper assemblies to move closer or further apart in a first direction. Each gripper assembly includes a drive structure and two clamping plates, which are symmetrically arranged. The drive structure drives the two clamping plates to move closer or further apart in a second direction, where the first direction is perpendicular to the second direction. This robotic gripper improves the stability of grasping phased array probes.

Description

Technical Field

[0001] This invention relates to the field of ultrasonic testing technology, and in particular to a robotic gripper. Background Technology

[0002] As a key component in the field of ultrasonic testing, the performance of phased array probes directly determines the accuracy and reliability of test results. In modern industrial nondestructive testing, phased array probes need to be coupled to the surface of the workpiece under test at specific angles, pressures, and paths to achieve precise imaging of the internal structure and defect identification. Traditional manual operation methods have significant limitations: on the one hand, manually holding the probe makes it easy for human factors to introduce detection errors, affecting the reliability of the results. The operator's experience, physical condition, emotions, and even slight hand tremors can cause fluctuations in these parameters, resulting in inconsistencies and poor repeatability of the test data, potentially leading to missed detections or misjudgments, and failing to guarantee high precision and reliability of the test results; on the other hand, in some complex working environments, such as high temperature, dust, and noise, manual operation is not only inefficient, but operators also need to hold the probe in a specific posture for a long time for repetitive work, which can easily lead to occupational injuries such as arm fatigue and muscle strain. At the same time, harsh environments can further reduce the operator's concentration and work comfort, increasing the risk of operational errors. To overcome the above challenges, it is inevitable to combine automated robotic arm technology with phased array ultrasonic testing technology and develop a special robotic gripper for grasping phased array probes. Through the cooperation of the robotic gripper and the robotic arm, it is ensured that the phased array probe is coupled to the surface of the workpiece being tested at a specific angle, pressure and path.

[0003] Existing robotic grippers can only adjust the size of the gripper in one direction, which cannot effectively limit and fix the phased array probe in one direction, thus failing to achieve stable gripping of the phased array probe. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic gripper to solve the problems existing in the prior art and improve the stability of grasping phased array probes.

[0005] To achieve the above objectives, the present invention provides the following solution: This invention provides a robotic gripper, comprising: a support, a drive rod, a transmission mechanism, and two gripper assemblies. The drive rod, the transmission mechanism, and the gripper assemblies are all mounted on the support. The two gripper assemblies are symmetrically arranged. The drive rod, through the transmission mechanism, enables the two gripper assemblies to move closer to or further away from each other in a first direction. Each gripper assembly includes a drive structure and two clamping plates. The two clamping plates are symmetrically arranged. The drive structure enables the two clamping plates to move closer to or further away from each other in a second direction. The first direction is perpendicular to the second direction.

[0006] In some specific embodiments, the gripper assembly includes a gripper body, the driving structure is disposed on the gripper body, and the clamping plate is slidably connected to the gripper body.

[0007] In some specific solutions, the gripper body has a groove, the drive structure is located in the groove, and a slide rail is provided on each side of the groove, and the clamping plate is slidably connected to the slide rail.

[0008] In some specific designs, the inner side of the clamping plate is provided with a slide table adapted to the slide rail, and the slide table is slidably connected to the slide rail.

[0009] In some specific embodiments, the outer side of the clamping plate is provided with a boss extending toward another clamping claw assembly.

[0010] In some specific embodiments, the power output end of the drive structure is provided with a gear, and the clamping plates are respectively fixedly connected to a rack. The length of the rack is greater than the length of the corresponding clamping plate. The two racks are located on both sides of the gear, and both racks mesh with the gear.

[0011] In some specific embodiments, the transmission mechanism includes a first intermediate connector, a second intermediate connector, two first linkage groups, two second linkage groups, and two third linkage groups. The two first linkage groups, the two second linkage groups, and the two third linkage groups are symmetrically arranged. The first intermediate connector is connected to the drive rod. One end of each first linkage group is rotatably connected to one end of the first intermediate connector, and the other end of each first linkage group is rotatably connected to one end of each second linkage group. The middle portion of each second linkage group is rotatably connected to the middle portion of the bracket, and the other end of each second linkage group is rotatably connected to the end of the gripper assembly. One end of each third linkage group is rotatably connected to the end of the bracket, and the other end of each third linkage group is rotatably connected to the middle portion of the gripper assembly.

[0012] In some specific embodiments, the first linkage group includes two first linkages arranged symmetrically; the second linkage group includes two second linkages arranged symmetrically; and the third linkage group includes two third linkages arranged symmetrically.

[0013] In some specific embodiments, the second connecting rod includes a first connecting segment and a second connecting segment, the first connecting segment and the second connecting segment are at a certain angle, one end of the first connecting segment is used to be rotatably connected to the other end of the first connecting rod, one end of the second connecting segment is used to be rotatably connected to the middle of the gripper assembly, and the connection point of the first connecting segment and the second connecting segment is used to be rotatably connected to the middle of the bracket.

[0014] In some specific embodiments, the support includes a support body and two support groups, the two support groups being symmetrically arranged on the support body. Each support group includes two support rods, which are symmetrically arranged. One end of each support rod is rotatably connected to one end of the third connecting rod, and the middle part of each support rod is rotatably connected to the middle part of the second connecting rod.

[0015] The present invention achieves the following technical effects compared to the prior art: The robotic gripper of this invention is suitable for grasping phased array probes from boiler welds. The drive rod is adjusted according to the phased array probe, moving upwards or downwards to adjust the distance between the two gripper assemblies, thus adjusting the clamping size in the first direction. Furthermore, for each gripper assembly, the distance between the two clamping plates can be adjusted via a drive structure, thus adjusting the clamping size in the second direction. By adjusting the clamping size in both the first and second directions, the phased array probe can be firmly grasped, and it can be adapted to phased array probes of various sizes. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 These are isometric views of the robotic gripper in some embodiments of the present invention; Figure 2 Axonometric view of a robotic gripper in some embodiments of the present invention (with gripping plate removed); Figure 3 This is a front view of a robotic gripper in some embodiments of the present invention; Figure 4 This is a side view of a robotic gripper in some embodiments of the present invention; In the diagram: 1-Drive rod, 2-Gripper body, 3-Clamping plate, 4-Groove, 5-Slide table, 6-Slide rail, 7-Boss, 8-Gear, 9-Rack, 10-First intermediate connector, 11-Second intermediate connector, 12-First connecting rod, 13-Second connecting rod, 14-Third connecting rod, 15-Limiting plate, 16-Bracket body, 17-Bracket rod. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] The purpose of this invention is to provide a robotic gripper to solve the problems existing in the prior art and improve the stability of grasping phased array probes.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1 to 4 As shown, this embodiment provides a robotic gripper, including: a support, a drive rod 1, a transmission mechanism, and two gripper assemblies. The drive rod 1, transmission mechanism, and gripper assemblies are all mounted on the support. The two gripper assemblies are symmetrically arranged. The drive rod 1, through the transmission mechanism, enables the two gripper assemblies to move closer or further apart in a first direction. Each gripper assembly includes a drive structure and two clamping plates 3, which are symmetrically arranged. The drive structure drives the two clamping plates 3 to move closer or further apart in a second direction, with the first and second directions perpendicular. The robotic gripper of this embodiment has an overall axisymmetric structure, suitable for gripping phased array probes of boiler weld seams. By adjusting the drive rod 1 according to the phased array probe, when the drive rod 1 moves upward, the two gripper assemblies move further apart; when the drive rod 1 moves downward, the two gripper assemblies move closer together. This achieves adjustment of the gripping size in the first direction. Furthermore, for each gripper assembly, the distance between the two clamping plates 3 can be adjusted through the drive structure, thus achieving adjustment of the gripping size in the second direction. By adjusting the clamping dimensions in the first and second directions, the phased array probe can be securely gripped, and it can be adapted to phased array probes of various sizes.

[0022] In some specific embodiments, the drive rod 1 is capable of reciprocating along its axial direction. The drive rod 1 is used to connect with a linear drive structure, such as a cylinder, hydraulic cylinder, or electric push rod.

[0023] In some specific embodiments, the gripper assembly includes a gripper body 2, a drive structure is disposed in a groove 4 opened on the gripper body 2, the drive structure is preferably a motor, a slide table 5 is provided on the clamping plate 3, and slide rails 6 are provided on both sides of the groove 4. The sliding connection between the clamping plate 3 and the gripper body 2 is realized through the cooperation of the slide table 5 and the slide rails 6.

[0024] In some specific embodiments, the outer side of the clamping plate 3 is provided with a boss 7 extending toward another gripper assembly, and the boss 7 is integrally formed with the clamping plate 3. The boss 7 is used to adapt to the side profile of the phased array probe to achieve stable gripping.

[0025] In some specific embodiments, a gear 8 is coaxially fixedly mounted on the power output end of the drive structure. The clamping plates 3 are respectively fixedly connected to a rack 9, the length of which is greater than the length of the clamping plate 3. The two racks 9 are located on opposite sides of the gear 8, and both racks 9 mesh with the gear 8. When the drive structure operates, the power output end drives the gear 8 to rotate, causing the two racks 9 to move in opposite linear directions, thereby moving the two clamping plates 3 in the same gripper assembly closer or further apart. When clamping a phased array probe, the drive structures of the two gripper assemblies operate simultaneously to achieve synchronous movement of the two gripper assemblies, thus enabling adaptive clamping of different types of phased array probes.

[0026] In some specific embodiments, the transmission mechanism includes a first intermediate connector 10, a second intermediate connector 11, two first linkage groups, two second linkage groups, and two third linkage groups; the first intermediate connector 10 is located below the second intermediate connector 11, and the first intermediate connector 10 and the second intermediate connector 11 are parallel; the two first linkage groups, the two second linkage groups, and the two third linkage groups are symmetrically arranged; the first linkage group includes two first linkages 12, which are symmetrically arranged; the second linkage group includes two second linkages 13, which are symmetrically arranged; the third linkage group includes two third linkages 14, which are symmetrically arranged; the bracket includes a bracket body 16 and two bracket groups, which are symmetrically arranged on the bracket body 16, and each bracket group includes two bracket rods 17, which are symmetrically arranged.

[0027] In some specific embodiments, the first intermediate connector 10 is fixedly connected to the drive rod 1, one end of the first connecting rod 12 is rotatably connected to one end of the first intermediate connector 10, the other end of the first connecting rod 12 is rotatably connected to one end of the second connecting rod 13, the middle part of the second connecting rod 13 is rotatably connected to the middle part of the support rod 17, the other end of the second connecting rod 13 is rotatably connected to the end of the gripper body 2, one end of the third connecting rod 14 is rotatably connected to the end of the support rod 17, and the other end of the third connecting rod 14 is rotatably connected to the middle part of the gripper body 2.

[0028] In some specific embodiments, the second connecting rod 13 is integrally formed and includes a first connecting segment and a second connecting segment. The first connecting segment and the second connecting segment are at a certain angle. One end of the first connecting segment is rotatably connected to the other end of the first connecting rod 12, and one end of the second connecting segment is rotatably connected to the middle part of the gripper body 2. The connection between the first connecting segment and the second connecting segment (i.e., the middle part of the second connecting rod 13) is rotatably connected to the middle part of the support rod 17.

[0029] In some specific embodiments, the bracket has an axisymmetric structure, and the bracket body 16 is provided with a through hole through which the drive rod 1 passes.

[0030] In some specific embodiments, a limiting plate 15 is also provided on the drive rod 1. The size of the limiting plate 15 is larger than the size of the through hole. The limiting plate 15 cooperates with the bracket body 16 to limit the movement distance of the drive rod 1, thereby limiting the maximum distance between the two gripper assemblies and avoiding damage caused by excessive distance between the two gripper assemblies.

[0031] The robotic gripper of this embodiment is suitable for grasping phased array probes from boiler welds. Adjusting the drive rod 1 according to the phased array probe's position allows for upward or downward movement, thus adjusting the distance between the two gripper assemblies—that is, adjusting the gripping size in the first direction. Furthermore, for each gripper assembly, a drive structure can rotate a gear 8, which in turn rotates a rack 9, adjusting the distance between the two clamping plates 3—that is, adjusting the gripping size in the second direction. By adjusting the gripping size in both the first and second directions, the phased array probe can be firmly grasped, and it can be adapted to phased array probes of various sizes.

[0032] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0033] In the description of this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] If this invention discloses or relates to components or structural parts that are fixedly connected to each other, then, unless otherwise stated, a fixed connection can be understood as: a detachable fixed connection (e.g., using bolts or screws) or a non-detachable fixed connection (e.g., riveting, welding). Of course, a fixed connection can also be replaced by an integral structure (e.g., manufactured in one piece using a casting process) (except where it is obviously impossible to use an integral molding process).

[0035] In addition, unless otherwise stated, the terms used in any of the technical solutions disclosed in this invention to indicate positional relationships or shapes include states or shapes that are similar to, close to, or approximate with those states or shapes.

[0036] Any component provided by this invention can be assembled from multiple individual components or can be a single component manufactured by a one-piece molding process.

[0037] It should be noted that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are only used to complement the content disclosed in the specification, so as to enable those skilled in the art to understand and read them, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0038] It should also be noted that in the embodiments of this application, the same reference numerals are used to denote the same component or the same part.

[0039] Any adaptive changes made according to actual needs are within the scope of protection of this invention.

[0040] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A robotic gripper, characterized in that: include: The system comprises a bracket, a drive rod, a transmission mechanism, and two gripper assemblies. The drive rod, the transmission mechanism, and the gripper assemblies are all mounted on the bracket. The two gripper assemblies are symmetrically arranged. The drive rod, through the transmission mechanism, enables the two gripper assemblies to move closer or further apart in a first direction. Each gripper assembly includes a drive structure and two clamping plates. The two clamping plates are symmetrically arranged. The drive structure enables the two clamping plates to move closer or further apart in a second direction. The first direction is perpendicular to the second direction.

2. The robotic gripper according to claim 1, characterized in that: The gripper assembly includes a gripper body, the driving structure is disposed on the gripper body, and the clamping plate is slidably connected to the gripper body.

3. The robotic gripper according to claim 2, characterized in that: The gripper body has a groove, the drive structure is located in the groove, and a slide rail is provided on each side of the groove. The clamping plate is slidably connected to the slide rail.

4. The robotic gripper according to claim 3, characterized in that: The inner side of the clamping plate is provided with a slide table adapted to the slide rail, and the slide table is slidably connected to the slide rail.

5. The robotic gripper according to claim 2, characterized in that: Each of the clamping plates has a boss extending toward the other clamping claw assembly on its outer side.

6. The robotic gripper according to claim 1, characterized in that: The power output end of the drive structure is provided with a gear, and the clamping plates are fixedly connected to a rack. The length of the rack is greater than the length of the corresponding clamping plate. The two racks are located on both sides of the gear, and both racks mesh with the gear.

7. The robotic gripper according to claim 1, characterized in that: The transmission mechanism includes a first intermediate connector, a second intermediate connector, two first linkage groups, two second linkage groups, and two third linkage groups. The two first linkage groups, the two second linkage groups, and the two third linkage groups are symmetrically arranged. The first intermediate connector is connected to the drive rod. One end of each first linkage group is rotatably connected to one end of the first intermediate connector, and the other end of each first linkage group is rotatably connected to one end of each second linkage group. The middle portion of each second linkage group is rotatably connected to the middle portion of the bracket, and the other end of each second linkage group is rotatably connected to the end of the gripper assembly. One end of each third linkage group is rotatably connected to the end of the bracket, and the other end of each third linkage group is rotatably connected to the middle portion of the gripper assembly.

8. The robotic gripper according to claim 7, characterized in that: The first linkage group includes two first linkages, which are symmetrically arranged; the second linkage group includes two second linkages, which are symmetrically arranged; the third linkage group includes two third linkages, which are symmetrically arranged.

9. The robotic gripper according to claim 8, characterized in that: The second connecting rod includes a first connecting segment and a second connecting segment. The first connecting segment and the second connecting segment are at a certain angle. One end of the first connecting segment is used to be rotatably connected to the other end of the first connecting rod. One end of the second connecting segment is used to be rotatably connected to the middle part of the gripper assembly. The connection point of the first connecting segment and the second connecting segment is used to be rotatably connected to the middle part of the bracket.

10. The robotic gripper according to claim 8, characterized in that: The support includes a support body and two support groups. The two support groups are symmetrically arranged on the support body. Each support group includes two support rods. The two support rods are symmetrically arranged. One end of each support rod is rotatably connected to one end of the third connecting rod, and the middle part of each support rod is rotatably connected to the middle part of the second connecting rod.

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