A mechanical hand gripping structure for pump blade detection

Abstract

This utility model relates to the field of pump blade inspection technology, and in particular to a robotic gripping structure for pump blade inspection. It includes a main body, a detection component on the front side of the main body, and a gripping component on the front side of the detection component. The gripping component includes a robotic arm, and a robotic claw at the end of the robotic arm. The inner side of the robotic claw is arc-shaped, and a rubber arc pad is fixedly installed on the inner wall of the robotic claw. The curvature and width of the rubber arc pad are adapted to the inner arc surface of the robotic claw. Multiple toothed airbags are arranged in a circumferential array on the inner arc surface of the rubber arc pad, with the tips of the toothed airbags facing outwards and the large ends fixedly connected to the inner arc surface of the rubber arc pad. In this utility model, the flexible rubber pad and the toothed airbags work together to improve the gripping surface fit and friction, achieving flexible and stable gripping of the pump blades, avoiding displacement, slippage, and damage, ensuring operational accuracy and efficiency, and meeting the requirements for efficient and precise gripping.

Description

Technical Field

[0001] This utility model relates to the field of pump blade detection technology, specifically a robotic gripping structure for pump blade detection. Background Technology

[0002] Pump blades are the core working components of fluid machinery such as centrifugal pumps, axial flow pumps, and mixed flow pumps. The core converts the mechanical energy of the motor into the kinetic energy and pressure energy of the fluid through rotational motion, so as to realize the transportation, pressurization or circulation of liquids (water, oil, chemical media, etc.). Its structural design directly determines the pump's flow rate, head, efficiency and operational stability. It is widely used in industrial and civil scenarios such as water conservancy projects, petrochemicals, water supply and drainage, power, and shipbuilding. The robotic gripper structure for pump blade inspection is the core actuator connecting automated inspection equipment and the blade workpiece. The core utilizes a multi-degree-of-freedom robotic arm paired with an adaptive end effector and a vision positioning system to achieve precise blade gripping, posture adjustment, and transfer at the inspection station. This solves the problems of low efficiency, large positioning deviations, and easy damage to the blade surface caused by manual handling. It is a key structure ensuring automation and inspection accuracy in geometric measurement and non-destructive testing, and is suitable for batch inspection scenarios of different types of blades, such as centrifugal pumps and axial flow pumps. Traditional robotic gripper structures have significant limitations. Their gripping parts are often made of smooth metal or rigid materials, which have a low coefficient of friction. When in contact with pump blades, these materials cannot generate sufficient friction, resulting in insufficient gripping stability. In actual gripping or transfer processes, pump blades are prone to positional displacement due to insufficient friction, and in severe cases, they may even slip off. This not only affects the accuracy of a single gripping operation but may also reduce overall work efficiency and even cause potential damage to pump blades or equipment, ultimately leading to gripping results that do not meet expectations. Therefore, a robotic gripper structure for pump blade detection is proposed to address the above problems. Utility Model Content

[0003] The purpose of this invention is to provide a robotic gripping structure for pump blade detection, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: A robotic gripper structure for pump blade detection includes a main body, a detection component on the front side of the main body, and a gripping component on the front side of the detection component. The gripping component includes a robotic arm, and a robotic claw at the end of the robotic arm. The inner side of the robotic claw is arc-shaped, and a rubber arc pad is fixedly installed on the inner wall of the robotic claw. The arc and width of the rubber arc pad are adapted to the inner arc surface of the robotic claw. The inner arc surface of the rubber arc pad has multiple toothed airbags arranged in a circumferential array, with the tips of the toothed airbags facing outwards and the large ends fixedly connected to the inner arc surface of the rubber arc pad. The interior of each toothed airbag has an air resistance structure.

[0005] As a further optimization of this utility model, the toothed airbag has a plurality of folded rubber strips arranged at equal intervals on its tip side, and a plurality of embedding grooves are arranged at equal intervals at the tip of the toothed airbag.

[0006] As a further optimization of this utility model, the folded rubber strips and the embedding grooves are set in equal numbers and with matching specifications, and multiple folded rubber strips are embedded in the corresponding embedding grooves one by one.

[0007] As a further optimization of this utility model, the air resistance structure includes multiple folded spring pieces disposed in the inner cavity of the toothed airbag. The multiple folded spring pieces are arranged at equal intervals, and both ends of the folded spring pieces are fixedly connected to the inner end face of the toothed airbag.

[0008] As a further optimization of this utility model, the toothed airbag is connected to an exhaust pipe through one side and fixedly connected to the outer end of the exhaust pipe, which is connected to and fixedly connected to a duckbill valve.

[0009] As a further optimization of this utility model, the toothed airbag is connected to a supplementary air pipe through and fixedly connected to the side away from the exhaust pipe. The supplementary air pipe is a frustum-shaped structure with a larger outer end and a smaller inner end, and a filter screen is provided on the inner wall of the outer end of the supplementary air pipe.

[0010] As a further optimization of this utility model, the inner end of the air supply tube is provided with a sealing plate, which completely covers the inner end of the air supply tube, and one end of the sealing plate is hinged to the inner wall of the toothed airbag.

[0011] Compared with the prior art, the beneficial effects of this utility model are: In this invention, the synergistic design of flexible rubber pads and multiple sets of toothed airbags significantly improves the fit and friction between the gripping surface and the pump blades, effectively avoiding positional shifts and slippage during gripping, ensuring gripping stability and operational accuracy. At the same time, the elastic structure enables flexible gripping, preventing damage to the pump blades, improving the success rate of single gripping and overall operational efficiency, and meeting the high-efficiency and precise gripping requirements during pump blade inspection. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the gripping component of this utility model; Figure 3 This is a schematic diagram of the gripping component of this utility model. Figure 1 ; Figure 4 This is a schematic diagram of the gripping component of this utility model. Figure 2 ; Figure 5 This is a schematic diagram of the mechanical claw of this utility model; Figure 6 This is a schematic diagram of the toothed airbag of this utility model; Figure 7 This is a cross-sectional view of the toothed airbag of this utility model; Figure 8 This utility model Figure 7 A schematic diagram of the backward structure; Figure 9 This utility model Figure 7 Enlarged view of point A; Figure 10 This utility model Figure 7 Enlarged view of point B; Figure 11 This utility model Figure 8 Enlarged view of point C.

[0013] In the diagram: 1. Main body of the equipment; 2. Detection component; 3. Gripping component; 31. Robotic arm; 32. Robotic claw; 33. Rubber arc pad; 34. Toothed airbag; 35. Folded rubber strip; 36. Embedding groove; 37. Air resistance structure; 371. Folded spring; 372. Exhaust pipe; 373. Duckbill valve; 374. Air supply pipe; 375. Filter screen; 376. Sealing plate. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0016] Please see Figures 1-11 This utility model provides a technical solution: A robotic gripper structure for pump blade detection includes a main body 1, a detection component 2 on the front side of the main body 1, and a gripping component 3 on the front side of the detection component 2. The gripping component 3 includes a robotic arm 31, and a robotic claw 32 at the end of the robotic arm 31. The inner side of the robotic claw 32 is arc-shaped, and a rubber arc pad 33 is fixedly installed on the inner wall of the robotic claw 32. The curvature and width of the rubber arc pad 33 are adapted to the inner arc surface of the robotic claw 32. The inner arc surface of the rubber arc pad 33 is provided with multiple toothed airbags 34, which are arranged in a circumferential array. The tips of the toothed airbags 34 face outward, and the large ends are fixedly connected to the inner arc surface of the rubber arc pad 33. An air resistance structure 37 is provided inside the toothed airbags 34.

[0017] It should be noted that: the main body 1 provides the pump blade with feeding and conveying capabilities, and provides the installation support foundation for the detection component 2 and the gripping component 3. The detection component 2 is used for subsequent detection operations of the pump blade. The arc-shaped inner side of the mechanical claw 32 is adapted to the rubber arc pad 33. The toothed airbag 34 fits the surface of the pump blade through elastic deformation to achieve flexible gripping and avoid damage to the blade. As a further implementation of this solution, the tip side of the toothed airbag 34 is provided with a plurality of folded rubber strips 35 arranged at equal intervals, and the tip of the toothed airbag 34 is provided with a plurality of embedding grooves 36 arranged at equal intervals. The folded rubber strips 35 and the embedding grooves 36 are equal in number and matched in specifications, and the plurality of folded rubber strips 35 are embedded in the corresponding embedding grooves 36 one by one. It should be noted that the folded rubber strip 35 is embedded in the groove 36 of the toothed airbag 34, which not only enhances the structural strength of the tip of the toothed airbag 34, but also does not affect its elastic deformation ability. The multiple folded rubber strips 35 arranged at equal intervals can improve the anti-slip effect during gripping and ensure that the pump blade does not slip during the gripping process. As a further implementation of this solution, the air resistance structure 37 includes a plurality of folded spring pieces 371 disposed in the inner cavity of the toothed airbag 34. The plurality of folded spring pieces 371 are arranged at equal intervals, and both ends of the folded spring pieces 371 are fixedly connected to the inner end face of the toothed airbag 34. It should be noted that the folded elastic piece 371 inside the toothed airbag 34 provides elastic support for the airbag, preventing it from being over-compressed or deformed, and ensuring stable gripping pressure. The equidistant distribution design of the folded elastic piece 371 makes the force on each part of the toothed airbag 34 uniform, improving the stability of gripping. As a further implementation of this solution, an exhaust pipe 372 is connected to one side of the toothed airbag 34 and fixedly connected to it, and a duckbill valve 373 is connected to and fixedly connected to the outer end of the exhaust pipe 372. It should be noted that: the exhaust pipe 372 is used to discharge gas when the toothed airbag 34 is compressed, and the duckbill valve 373 can prevent the discharged gas from flowing back and ensure that the airbag contracts smoothly. This one-way exhaust structure enables the toothed airbag 34 to quickly adapt to the surface profile of the pump blade and improve the fitting efficiency. As a further implementation of this solution, the toothed airbag 34 is connected to a supplementary air pipe 374 through and fixedly connected to the side away from the exhaust pipe 372. The supplementary air pipe 374 is a frustum-shaped structure with a larger outer end and a smaller inner end, and a filter screen 375 is provided on the inner wall of the outer end of the supplementary air pipe 374. It should be noted that: the frustum-shaped air supply tube 374 facilitates the rapid replenishment of gas into the toothed airbag 34, the filter screen 375 can filter impurities in the air to avoid clogging the airbag or affecting the smooth flow of air. The design of the air supply tube 374, which is large at the outer end and small at the inner end, can improve the air supply rate and shorten the grasping preparation time. As a further implementation of this scheme, a sealing piece 376 is provided at the inner end of the air supply tube 374. The sealing piece 376 completely covers the inner end of the air supply tube 374, and one end of the sealing piece 376 is hinged to the inner wall of the toothed airbag 34. It should be noted that the sealing plate 376 covers the inner end of the air supply tube 374 by means of hinge. When the toothed airbag 34 is vented, it automatically closes to prevent gas from leaking from the air supply tube 374. When the airbag needs to be replenished, the sealing plate 376 opens under the action of air pressure to achieve rapid air replenishment and ensure the efficient operation of the grasping cycle.

[0018] Work process: The main body of the equipment 1 smoothly transports the pump blades to the detection component 2 through the internal conveying device, and the detection component 2 detects the pump blades. When the detection is completed and the pump blades that meet the grasping conditions are in place, the robotic arm 31 starts to move. The robotic arm 31 is a multi-joint motion mechanism composed of motors, reducers, transmission chains, etc. According to the preset program, it controls the rotation angle and speed of each joint through the forward and reverse rotation and speed adjustment of the motor, so as to move precisely to the grasping position of the pump blades. The inner arc of the mechanical gripper 32, with a rubber arc pad 33, approaches the pump blade. The rubber arc pad 33 first contacts the surface of the pump blade. The rubber arc pad 33 has good flexibility and cushioning performance. When contacting the blade, it can effectively avoid scratching or hard impact damage to the blade surface and protect the integrity of the blade. At the same time, the toothed airbag 34 begins to play its role. When contacting the pump blade, it undergoes elastic deformation under pressure and gradually conforms to the surface contour of the pump blade. The toothed airbag 34 is made of elastic rubber material, which has high elasticity and plasticity. It can adaptively deform according to the shape of the blade to ensure close contact with the blade surface, thereby achieving stable gripping. The folded rubber strip 35 enhances the structural strength of the tip of the toothed airbag 34 and also serves as an anti-slip agent. The folded rubber strip 35 is made of high-strength rubber, and its unique folded design enhances the structural strength while increasing the friction with the blade surface. Multiple equidistantly arranged folded rubber strips 35 can effectively prevent the pump blade from slipping during the gripping process. Even under high-speed handling or certain vibration, it can ensure that the blade is firmly gripped. The folded spring sheet 371 in the inner cavity of the toothed airbag 34 provides elastic support for the airbag and avoids excessive compression or deformation. The folded spring sheet 371 is made of spring steel and has good elasticity and toughness. It can provide reverse support force when the airbag is compressed. Its equidistant distribution design makes the force on each part of the toothed airbag 34 uniform, ensuring stable gripping pressure, improving gripping stability, and ensuring that the blade will not fall off due to uneven deformation of the airbag during the gripping process. When the toothed airbag 34 is compressed, the internal gas is discharged through the exhaust pipe 372. The exhaust pipe 372 is a pipe with a certain inner diameter to ensure smooth gas discharge. The duckbill valve 373 prevents the discharged gas from flowing back. The special structure of the duckbill valve 373 allows it to automatically open when gas is discharged and automatically close when there is a tendency for gas to flow back, ensuring smooth airbag contraction and quick adaptation to the pump blade surface profile, improving the fitting efficiency and enabling the mechanical gripper 32 to complete the gripping action more quickly. When the toothed airbag 34 needs to be replenished with air, external air enters through the air replenishment pipe 374. The frustum-shaped air replenishment pipe 374 facilitates rapid gas replenishment. Its design, with a larger outer end and a smaller inner end, can utilize the gas flow rate and... The diameter of the pipe increases the gas flow rate when entering the air supply pipe 374, allowing it to quickly enter the toothed airbag 34. The filter screen 375 filters impurities in the air. The filter screen 375 uses high-precision filter material, which can effectively filter out dust, particulate matter and other impurities in the air, preventing these impurities from entering the airbag and affecting the smooth flow of air or damaging the internal structure of the airbag. When the toothed airbag 34 is venting, the sealing plate 376 automatically closes to prevent gas from leaking from the air supply pipe 374. When air needs to be replenished, the sealing plate 376 opens under air pressure to achieve rapid air replenishment, ensuring efficient gripping cycles. This allows the robotic gripper 32 to quickly complete one gripping action and prepare for the next gripping action, improving work efficiency. After the robotic gripper 32 successfully picks up the pump blade, the robotic arm 31 transports the pump blade to the designated location according to the program. If the pump blade is qualified, it will be placed in the finished product area; if it is unqualified, it will be transported to the unqualified product area for subsequent repair or scrapping. During the transportation process, the robotic arm 31 will maintain a stable operating speed and precise position control to avoid the pump blade being collided or falling during transportation, ensuring the smooth progress of the entire inspection and gripping process.

[0019] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic gripping structure for pump blade detection, comprising a main body (1), characterized in that: The front side of the main body (1) of the device is provided with a detection component (2), and the front side of the detection component (2) is provided with a gripping component (3). The gripping component (3) includes a robotic arm (31), and a robotic claw (32) is provided at the end of the robotic arm (31). The inner side of the robotic claw (32) is arc-shaped, and a rubber arc pad (33) is fixedly installed on the inner side wall of the robotic claw (32). The curvature and width of the rubber arc pad (33) are adapted to the inner arc surface of the robotic claw (32). The inner arc surface of the rubber arc pad (33) is provided with multiple toothed airbags (34). The multiple toothed airbags (34) are arranged in a circumferential array, and the tips of the toothed airbags (34) face outward. The large end is fixedly connected to the inner arc surface of the rubber arc pad (33). The interior of the toothed airbags (34) is provided with an air resistance structure (37).

2. The robotic gripping structure for pump blade detection according to claim 1, characterized in that: The toothed airbag (34) has a plurality of folded rubber strips (35) arranged at equal intervals on the tip side, and a plurality of embedding grooves (36) are arranged at equal intervals at the tip of the toothed airbag (34).

3. The gripper structure for pump blade inspection according to claim 2, wherein: The folded rubber strips (35) and the embedding grooves (36) are set in equal numbers and with matching specifications, and multiple folded rubber strips (35) are embedded in the corresponding embedding grooves (36).

4. The gripper structure for a robot for detecting pump blades according to claim 1, characterized in that: The air resistance structure (37) includes a plurality of folded spring pieces (371) disposed in the inner cavity of the toothed airbag (34). The plurality of folded spring pieces (371) are arranged at equal intervals, and both ends of the folded spring pieces (371) are fixedly connected to the inner end face of the toothed airbag (34).

5. The gripper structure for a robot for detecting pump blades according to claim 1, characterized in that: One side of the toothed airbag (34) is connected to an exhaust pipe (372), and the outer end of the exhaust pipe (372) is connected to and fixedly connected to a duckbill valve (373).

6. A gripper structure for a robot for picking up pump vanes according to claim 5, characterized in that: The toothed airbag (34) has a through-hole and fixed connection to the side away from the exhaust pipe (372) with an air supply pipe (374). The air supply pipe (374) is a frustum-shaped structure with a larger outer end and a smaller inner end, and a filter screen (375) is provided on the inner wall of the outer end of the air supply pipe (374).

7. A gripper structure for a robot for picking up pump vanes according to claim 6, characterized in that: The inner end of the air supply tube (374) is provided with a sealing piece (376), which completely covers the inner end of the air supply tube (374), and one end of the sealing piece (376) is hinged to the inner wall of the toothed airbag (34).

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