Clamping device, mechanical arm, and method for identifying workpiece

Abstract

A clamping device, a mechanical arm, and a method for identifying a workpiece. The clamping device is provided with a fixation portion (10) and a clamping portion (20); the fixation portion (10) at least comprises a first fixation portion (11) and a second fixation portion (12) connected to the first fixation portion (11); the clamping portion (20) comprises a clamping base (21) and a clamping body (22); the first fixation portion (11) is fixedly connected to the tail end of a mechanical arm; the second fixation portion (12) is locked and fixed to the clamping base (21) by means of a quick release locking mechanism (30); the clamping body (22) is configured to clamp a workpiece.

Description

Clamping device, robotic arm, and workpiece identification method Technical Field

[0001] The present disclosure relates to the technical field of medical devices, and in particular to a clamping device, a robotic arm, and a workpiece identification method. Background Art

[0002] Ultrasound diagnostic technology has been widely used in the field of medical testing. Ultrasound diagnosis is a diagnostic method that applies ultrasound testing technology to the human body, measuring physiological or tissue structure data and morphology to detect diseases and provide diagnostic information. Traditional ultrasound examinations are performed manually using a handheld ultrasound probe. This method relies on the doctor's experience and operating skills, and prolonged hand-held operation can easily cause fatigue, resulting in unclear imaging and affecting diagnostic results. However, robotic arms, with their ability to move in multiple degrees of freedom, can effectively replace manual testing. To facilitate ultrasound diagnosis, existing ultrasound diagnostic equipment uses a robotic arm to fix an ultrasound probe at the front end, and uses the robotic arm's multi-degree-of-freedom movement to achieve intelligent detection of the ultrasound probe.

[0003] Currently, there are many types of ultrasound probes on the market, with different sizes and shapes. However, existing robotic arms are usually only suitable for clamping one type of probe and cannot flexibly replace different ultrasound probes according to the needs of different patients. This leads to poor adaptability and increased ultrasound diagnosis costs. Moreover, the existing robotic arms are cumbersome and time-consuming when replacing probes, resulting in reduced diagnostic efficiency and poor user experience.

[0004] Summary of the Invention

[0005] In view of this, the main object of the present invention is to provide a clamping device, a robot arm having the clamping device, and a workpiece identification method.

[0006] According to one aspect of the present invention, a clamping device is provided, which has a fixing part and a clamping part, including: the fixing part includes at least a first fixing part and a second fixing part connected to the first fixing part, and the clamping part includes a clamping base and a clamping body, wherein the first fixing part is fixedly connected to the end of a robotic arm, and the second fixing part is locked and fixed to the clamping base through a quick-release locking mechanism, and the clamping body is configured to clamp a workpiece.

[0007] According to the device of the present invention, a quick-release locking mechanism is used to realize convenient and flexible disassembly and replacement of various ultrasonic probes, which is simple to operate, highly adaptable, and easy to use; the robotic arm with a highly integrated sensing terminal disclosed in the present invention can accurately obtain probe pressure data, and the obtained pressure data is highly accurate; in addition, the workpiece recognition method disclosed in the present invention can automatically identify and measure the length and width dimension data of the ultrasonic probe, which is convenient for automatically generating an ultrasonic probe model for use in the control algorithm of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] FIG1 is a schematic structural diagram of a clamping device according to an embodiment of the present disclosure;

[0009] FIG2 shows an exploded schematic diagram of a clamping device according to an embodiment of the present disclosure;

[0010] FIG3 shows a schematic diagram of a method for identifying a workpiece according to another embodiment of the present disclosure;

[0011] FIG4 is a schematic diagram showing a method for calculating first feature data of a workpiece according to another embodiment of the present disclosure;

[0012] FIG5 is a schematic diagram showing a method for calculating a first characteristic value of a clamping portion according to another embodiment of the present disclosure;

[0013] FIG6 shows a flowchart of a method for identifying a workpiece according to another embodiment of the present disclosure. DETAILED DESCRIPTION

[0014] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0015] As mentioned earlier, the existing robotic arm clamping end has poor adaptability and cannot meet the needs of clamping ultrasound probes of different shapes and sizes, which makes the entire ultrasound diagnostic equipment only suitable for ultrasound probes of a single model and size, resulting in high equipment costs; furthermore, the ultrasonic robotic arm clamping end on the current market is inconvenient to disassemble and assemble, and replacing the probe is time-consuming, resulting in a poor user experience; in addition, after replacing the probe, the robotic arm cannot accurately obtain the probe length and width dimensions, and therefore cannot directly obtain the ultrasound probe model for use in the robotic arm control algorithm.

[0016] To address the aforementioned issues, one embodiment of the present disclosure provides a clamping device comprising a fixing portion and a clamping portion. The fixing portion includes at least a first fixing portion and a second fixing portion connected to the first fixing portion. The clamping portion includes a clamping base and a clamping body. The first fixing portion is fixedly connected to the end of a robotic arm, and the second fixing portion is locked and fixed 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 an ultrasonic probe, providing flexible operation and ease of use, and meeting the clamping requirements of various ultrasonic probes.

[0017] Figure 1 is a schematic structural diagram of a clamping device according to an embodiment of the present disclosure. Figure 2 is an exploded schematic diagram of a clamping device according to an embodiment of the present disclosure.

[0018] As shown in Figures 1 and 2, a clamping device can meet the needs of rapid clamping of various types of ultrasonic probes. The clamping device at least comprises a fixing portion 10 and a clamping portion 20.

[0019] The fixing portion 10 includes a first fixing portion 11 and a second fixing portion 12 fixedly connected to the first fixing portion 11. As shown in FIG2 , the first fixing portion 11 is a flange structure having a concave stepped surface 13 formed thereon, with a plurality of first connection holes 110 machined on the concave bottom surface. The stepped surface 13 is formed with a plurality of second connection holes 111. The flange structure can be fixedly connected to the end of the robotic arm through the first connection holes 110, thereby forming an intelligent sensing end for ultrasonic detection together with the end of the robotic arm.

[0020] The clamping portion 20 of the present disclosure includes a clamping base 21 and a clamping body 22 . The clamping base 21 is used for quick connection with the fixing portion 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.

[0021] Specifically, the clamping base 21 and the second fixing portion 12 can be locked and fixed by a quick-release locking mechanism 30. The quick-release locking mechanism 30 can realize the rapid clamping, locking, and rapid disassembly of the fixing portion 10 and the clamping portion 20. The quick-release locking mechanism 30 includes at least one locking hole 31 and a locking buckle 32 adapted to the locking hole 31. The locking buckle 32 can be a spring. When clamping and connecting is required, the spring can be pressed to cause the spring to elastically deform and fall into the locking hole 31 for locking and fixing. When disassembly is required, a pressing force can also be applied to cause the spring to deform and simultaneously apply an outward force to the clamping portion 20 to pull the spring out of the locking hole 31, thereby separating the clamping portion 20 from the fixing portion 10.

[0022] Optionally, the locking hole 31 of the quick-release locking mechanism 30 can be provided on the side wall of the second fixing portion 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 portion 12. The present disclosure exemplarily shows in FIG2 that the locking hole 31 is arranged on the second fixing portion 12, and the locking buckle 32 is arranged on the clamping base 21. In addition, those skilled in the art should understand that the arrangement position and number of the locking holes and locking buckles of the present disclosure can be set according to the actual structural requirements of the actual clamping base and the second fixing portion. For example, the number of locking holes and locking buckles can be one, two or more, and they are symmetrically arranged. All quick-release locking mechanisms adopting the above-mentioned structure should fall within the scope of protection of the present disclosure.

[0023] Preferably, the second fixing part 12 of the present invention can be a sleeve structure, as shown in Figure 2, and two locking holes 31 can be symmetrically arranged at the side wall of the sleeve structure; correspondingly, the clamping base 21 can also be a sleeve structure, and 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 the setting position and number correspond to the aforementioned locking hole 31. By pressing the locking buckle 32, the clamping part can be quickly and conveniently loaded and unloaded, thereby realizing the convenience of replacing the workpiece (ultrasonic probe) and having good adaptability to ultrasonic probes of different models and sizes from different manufacturers.

[0024] In one disclosed embodiment, the clamping device, serving as a sensing mechanism at the end of an ultrasonic probe manipulator, can be integrated with a force sensor to accurately detect the force applied to a workpiece (e.g., an ultrasonic probe). Specifically, the clamping device disclosed herein also includes a force sensor 40 and a sensor holder 50. The sensor holder 50 is disposed between the first fixing portion 11 and the second fixing portion 12, and the force sensor 40 is housed within the force sensor holder 50.

[0025] The sensor holder 50 includes a flange base 51 and a cylindrical sleeve 52. The flange base 51 is surrounded by fixing holes 510, through which the sensor holder 50 is fixedly connected to the first fixing portion 11. The cylindrical sleeve 52 forms a receiving chamber, and an opening 511 is provided in the sidewall of the receiving chamber. The force sensor 40 is disposed within the receiving chamber, with one end of the force sensor 40 abutting the flange base 51 and the other end connected to the clamping base 21. Furthermore, the sleeve of the second fixing portion 12 is sleeved within the cylindrical sleeve 52, thereby securing the second fixing portion 12 to the sensor holder 50.

[0026] According to another embodiment of the present 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 feature data of the workpiece, thereby using the obtained feature data in the control algorithm of the robotic arm.

[0027] As shown in Figure 2, the mounting seat 70 is arranged on the side wall of the second fixing part 12. Those skilled in the art should understand that the setting position of the mounting seat 70 can be selected according to actual measurement needs, and any other position that is conducive to measuring the characteristic data of the ultrasonic probe can be used as the arrangement position of the mounting seat.

[0028] The mounting base 70 may be a lug structure having a pivot hole 71, and the measuring instrument 60 is fixedly mounted on the lug. Preferably, the mounting base 70 further includes a pivot shaft that can cooperate with the pivot hole 71 to achieve a pivotal connection between the measuring instrument 60 and the mounting base 70, that is, the measuring instrument 60 can rotate relative to the mounting base 70.

[0029] In order to facilitate control and adjustment of the rotation angle of the measuring instrument 60 , an embodiment of the present disclosure provides an angle adjustment mechanism (not shown) between the measuring instrument 60 and the mounting seat 70 , which is configured to automatically adjust the angle between the measuring instrument 60 and the second fixing portion 12 .

[0030] Preferably, the angle adjustment mechanism may be a rotary motor.

[0031] The measuring instrument 60 of the present disclosure may be a laser rangefinder, which is used to measure first characteristic data of a workpiece, wherein the first characteristic data may be length dimension data of the workpiece (eg, an ultrasonic probe).

[0032] According to one embodiment of the present disclosure, the clamping device further includes a fastening mechanism 80, which is disposed on the clamping body 22 and is used to lock the workpiece. Specifically, the fastening mechanism 80 includes at least a plurality of fastening holes 81 formed in the clamping body 22, and a fastening block 82 that cooperates with the fastening holes 81. The fastening block 82 can be disposed within the fastening holes 81, for example, by being threaded therein, and the inner side of the fastening block 82 presses against the workpiece to secure it.

[0033] Preferably, the fastening block 82 of the present disclosure can be a fastening screw or a fastening rod. More preferably, the fastening block 82 is formed with scale lines along its axis, as shown in Figure 2. In addition to its fastening function, the fastening block 82 can also be used to measure a second characteristic data of the workpiece, such as the width dimension of the ultrasonic probe.

[0034] The clamping device disclosed in the present invention can conveniently and flexibly disassemble and replace various types of workpieces and has high adaptability. It also integrates a force sensor and a laser rangefinder, which can accurately obtain the workpiece pressure data and automatically identify and calculate the length and width dimension data of the workpiece, thereby facilitating the automatic generation of a workpiece model.

[0035] According to another embodiment of the present disclosure, a robotic arm for an ultrasonic inspection robot is provided, comprising a robotic arm end and a clamping device mounted on the robotic arm end. The clamping device may be any of the clamping devices described in the aforementioned embodiments. The present disclosure does not further elaborate on the specific structure of the clamping device.

[0036] The robotic arm disclosed herein provides an end-sensing quick-release clamping device, which can adapt to the quick installation and clamping of various types of ultrasonic probes, has good applicability, and can keep the end acquisition surface of the ultrasonic probe in close contact with the object being measured. Force feedback data is accurately obtained through a force sensor, and a laser rangefinder is used to automatically obtain characteristic data of the ultrasonic probe, which is conducive to accurately obtaining an ultrasonic probe model for use in the control algorithm of the robotic arm.

[0037] In ultrasonic diagnostic technology, an ultrasonic diagnostic device is often used with ultrasonic probes of various models and sizes. When a new ultrasonic probe is installed or replaced according to diagnostic needs, in order to accurately obtain the control algorithm of the ultrasonic robot's robotic arm, it is necessary to re-acquire the dimensional model of the ultrasonic probe. That is, after clamping, the measured length and width dimension data need to be re-identified for use in the control algorithm of the robotic arm.

[0038] Therefore, in order to facilitate the acquisition of workpiece dimensional data, another embodiment of the present disclosure further provides a workpiece identification method for identifying the length dimensional data and the width dimensional data of the measuring ultrasonic probe, the identification method comprising the following steps:

[0039] Step S1: providing a workpiece sensing terminal, the workpiece sensing terminal including a clamping device and a measuring instrument, wherein the clamping device includes a fixing portion and a clamping portion, the clamping portion is configured to clamp the workpiece to be identified, and the measuring instrument is disposed on the fixing portion and has a degree of freedom of rotation;

[0040] Step S2: adjusting the rotation angle of the measuring instrument to detect and identify the contour of the workpiece, and obtaining a first characteristic value of the workpiece, wherein the first characteristic value is the distance I between the measuring point of the measuring instrument and the end of the workpiece;

[0041] Step S3: Based on the first characteristic value, calculate and generate first characteristic data of the workpiece, where the first characteristic data is length data of the workpiece.

[0042] The workpiece identification method disclosed herein can adjust the angle of the measuring instrument so that the measurement signal detects the end of the clamping device and / or 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.

[0043] The clamping device used in the workpiece identification method may be the clamping device described in any of the aforementioned embodiments. Therefore, the present disclosure will not further elaborate on the specific structure of the clamping device.

[0044] In the workpiece identification method of this embodiment, in step S2, the following steps may be included:

[0045] Step S21: controlling the measuring instrument to initialize to a first preset position;

[0046] In this step, the initialization of the measuring instrument may be to control the measuring instrument to rotate along the first direction or the second direction to an initialization position. For example, the initialization position may be a position of a preset angle α0 between the measuring instrument and the clamping portion.

[0047] 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 direction and the second direction depend entirely on the installation position of the measuring instrument and the observation angle of the observer.

[0048] 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.

[0049] 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;

[0050] Before step S23 , the method further includes a step of automatically acquiring a reference value I0 , where the reference value I0 is used to characterize an original length dimension of the clamping portion, and the original length dimension of the clamping portion is pre-stored in a memory.

[0051] Compare the first measured value I1 obtained in this step with the original length value I0 of the clamping portion. If the comparison result is I1 ≥ I0, control the laser rangefinder to rotate clockwise by a first preset angle α1.

[0052] Step S24: controlling the measuring instrument to emit a second detection signal to detect and identify the contour of the workpiece, and obtaining a second measurement value I2; the second measurement value is a measurement value obtained after the measuring instrument undergoes a rotational displacement;

[0053] Step S25: Compare 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, 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 characteristic value of the workpiece, where the threshold angle β is a preset threshold used to characterize the measurement accuracy, and the threshold angle can be adjusted according to the actual measurement accuracy requirements.

[0054] The workpiece identification method according to the embodiment of the present disclosure further includes the following steps:

[0055] In step S23, the obtained first measurement value I1 is compared with the reference value I0. If the judgment result indicates that the first measurement value I1 is less than the reference value I0, the measuring instrument is controlled to rotate in a second direction opposite to the first direction (i.e., counterclockwise) by a second preset angle α2, and then step S22 is continued. In this step, when I1 < I0, it indicates that the detection point of the measuring instrument has fallen on the clamping portion and has not reached the end of the workpiece, that is, the angle between the measuring instrument and the clamping portion is too small. Therefore, it is necessary to rotate the measuring instrument in a second direction opposite to the first direction by a second preset angle to increase the angle between the measuring instrument and the clamping portion, thereby expanding the detection range of the measuring instrument. Thereafter, the measuring instrument is continued to be used for distance measurement, and the above operation can be repeated until the measured first measurement value I1 is greater than or equal to the reference value I0.

[0056] When the first measurement value I1 satisfies ≥ the reference value I0, the measuring instrument (eg, 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 the distance to obtain a second measurement value I2.

[0057] 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. After that, the laser rangefinder is continued to perform distance measurement. In this step, the rotation and ranging operations can be repeatedly performed until the measured second measurement value I2 is less than or equal to the reference value I0.

[0058] At this time, the first preset angle α1 is compared with the threshold angle β. If the judgment result shows that α1 is not less than β, the measuring instrument is controlled to rotate along a second direction opposite to the first direction by a fourth preset angle α4, and then step S22 is continued.

[0059] According to an embodiment of the present 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. For example, the first preset angle α1 is equal to half the second preset angle α2. The present disclosure utilizes the above-described angle control to more quickly and accurately detect the contour of a workpiece.

[0060] According to another embodiment of the present disclosure, the identification method further includes the following steps: obtaining a first characteristic value of the clamping portion, where the first characteristic value of the clamping portion may be the distance between a measuring point of the measuring instrument and a center line of the clamping portion.

[0061] After the first characteristic value of the workpiece and the first characteristic value of the clamping portion are acquired, the first characteristic data of the workpiece can be generated by a mathematical calculation method.

[0062] Therefore, step S3 further includes the following steps: based on the acquired first characteristic value of the workpiece and the first characteristic value of the clamping portion, calculating and generating first characteristic data of the workpiece, wherein the first characteristic data may be length dimension data of the workpiece.

[0063] The first characteristic data of the workpiece can be calculated using a mathematical formula. As shown in the figure, the Pythagorean theorem can be used. 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: A=1 / 2L1+L2+1 / 2L3

[0064] Wherein, L1 is the diameter of the clamping base, L2 is the length of the fixing base, and L3 is the width of the measuring instrument.

[0065] In addition, in order to obtain a model of a workpiece (such as an ultrasonic probe), it is necessary to know the length dimension data and width dimension data of the workpiece. Therefore, the recognition method of the embodiment of the present disclosure also includes a step of obtaining second feature data of the workpiece.

[0066] The step of obtaining the second characteristic data of the workpiece specifically includes the following steps:

[0067] Providing a fastening mechanism having scale lines for measurement;

[0068] Screw the fastening mechanism onto the clamping portion so that its inner side contacts the workpiece surface;

[0069] Get the scale value of the fastening mechanism;

[0070] Second feature data of the workpiece is calculated and generated, wherein the second feature data of the workpiece is width dimension data of the workpiece.

[0071] In this step, since the diameter of the clamping body of the clamping portion is known, the width dimension data of the workpiece can be calculated based on the screwing amount of the fastening mechanism into the clamping body and the diameter dimension information of the clamping body.

[0072] In summary, the workpiece identification method provided by the present disclosure can obtain the length dimension data and width dimension data of the workpiece, thereby being able to construct a model of the workpiece, which is convenient for application to the control algorithm of the robotic arm.

[0073] The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this disclosure.

Claims

1. A clamping device, comprising a fixing portion and a clamping portion, characterized in that: The fixing part at least includes a first fixing part and a second fixing part connected to the first fixing part, and the clamping part includes a clamping base and a clamping body, wherein the first fixing part is fixedly connected to the end of a robotic arm, and the second fixing part is locked and fixed to the clamping base through a quick-release locking mechanism, and the clamping body is configured to clamp a workpiece.

2. The clamping device according to claim 1, characterized in that: The quick-release locking mechanism comprises at least one locking hole and a locking buckle matched with the locking hole.

3. The clamping device according to claim 2, characterized in that: The locking hole is arranged on the second fixing portion and / or the clamping base; the locking buckle is arranged on the clamping base and / or the second fixing portion.

4. The clamping device according to any one of claims 1 to 3, characterized in that: The clamping device further includes a sensor fixing seat and a force sensor. The sensor fixing seat is disposed between the first fixing portion and the second fixing portion and is configured to install and fix the force sensor.

5. The clamping device according to claim 4, characterized in that: in, The sensor fixing seat is formed with a containing chamber, the force sensor is contained in the containing chamber, and one end of the force sensor is connected to the clamping base.

6. The clamping device according to any one of claims 1 to 3, characterized in that: The clamping device further comprises a laser rangefinder and a mounting seat, wherein the laser rangefinder is configured to measure the size of a workpiece; and the mounting seat is configured to fixedly mount the laser rangefinder.

7. The clamping device according to claim 6, characterized in that: The mounting seat is arranged on the side wall of the second fixing portion and is a lug structure with a pivot hole.

8. The clamping device according to claim 7, characterized in that: The laser rangefinder is pivotally connected to the mounting seat through the pivot hole and a pivot shaft.

9. The clamping device according to claim 8, characterized in that: An angle adjustment mechanism is also provided between the laser rangefinder and the mounting seat, and is configured to automatically adjust the angle of the laser rangefinder relative to the second fixing portion.

10. The clamping device according to claim 9, characterized in that: The angle adjustment mechanism is a rotary motor.

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

12. The clamping device according to claim 1 or 11, characterized in that: The clamping body is also provided with a fastening mechanism.

13. The clamping device according to claim 12, characterized in that: The fastening mechanism at least comprises a plurality of fastening holes formed on the clamping body and fastening blocks matched with the fastening holes. The fastening blocks are arranged in the fastening holes, and the inner side surfaces thereof press the workpieces.

14. The clamping device according to claim 13, characterized in that: The fastening block is a locking screw.

15. The clamping device according to claim 14, characterized in that A scale line is formed in the axial direction of the locking screw.

16. The clamping device according to claim 4, characterized in that: The first fixing part is a flange plate, and a plurality of first connecting holes and second connecting holes are provided on the first fixing part. The first fixing part is connected to the end of the robot arm through the first connecting holes; and the first fixing part is connected to the sensor fixing seat through the second connecting holes.

17. A mechanical arm for an ultrasonic testing robot, characterized in that: It comprises a robot arm end and a clamping device as claimed in any one of claims 1 to 16, wherein a fixing portion of the clamping device is connected to the robot arm end.

18. A method for identifying a workpiece, characterized in that: The following steps are included: S1: providing a workpiece sensing terminal, the workpiece sensing terminal comprising a clamping device and a measuring instrument, wherein the clamping device comprises a fixing portion and a clamping portion, the clamping portion is configured to clamp the workpiece to be identified, and the measuring instrument is arranged on the fixing portion and has a degree of freedom of rotation; Step S2: adjusting the rotation angle of the measuring device to detect and identify the contour of the workpiece to obtain a first characteristic value of the workpiece; Step S3: Based on the first feature value, calculate and generate first feature data of the workpiece.

19. The workpiece identification method according to claim 18, characterized in that: in, The clamping device is the clamping device according to any one of claims 1 to 16.

20. The workpiece identification method according to claim 18 or 19, characterized in that: The step S2 specifically includes the following steps: Step S21: controlling the measuring device to be initialized to a first preset position; Step S22: The measuring device transmits a first detection signal to detect and identify the contour of the workpiece, and Obtaining a first measurement value I1; Step S23: comparing the first measurement value I1 obtained with a pre-stored reference value I0, and if the judgment result shows that the first measurement value I1 is not less than the reference value I0, controlling the measuring instrument to rotate along a first direction by a first preset angle α1; Step S24: the measuring device transmits a second detection signal to detect and identify the contour of the workpiece, and obtains 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 satisfies the condition of being 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, determine the second measurement value I2 as the first characteristic value of the workpiece, wherein the threshold angle β is a preset threshold used to characterize the measurement accuracy.

21. The workpiece identification method according to claim 20, characterized in that: In step S23, it also includes: comparing the first measurement value I1 obtained with a reference value I0. If the judgment result shows that the first measurement value I1 is smaller than the reference value I0, controlling the measuring device to rotate a second preset angle α2 in a second direction opposite to the first direction, and then continuing to execute step S22.

22. The workpiece identification method according to claim 20 or 21, characterized in that: In step S25, it also 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 device to rotate along the first direction by a third preset angle α3, and then continuing to execute step S24.

23. The workpiece identification method according to claim 20 or 21, characterized in that: In step S25, the following steps are also included: comparing the second measurement value I2 obtained with the reference value I0; when the second measurement value I2 satisfies the condition of being not 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 device to rotate along a second direction opposite to the first direction by a fourth preset angle α4, and then continuing to execute step S22.

24. The workpiece identification method according to claim 20, characterized in that: The step S2 also includes a step of automatically acquiring a reference value I0.

25. The workpiece identification method according to claim 24, characterized in that: The reference value I0 is used to characterize the length dimension of the clamping portion.

26. The workpiece identification method according to claim 18, characterized in that: The identification method further comprises the following step: obtaining a first characteristic value related to the clamping portion.

27. The workpiece identification method according to claim 26, characterized in that: The first characteristic value of the clamping portion is the distance between the measuring point of the measuring instrument and the center line of the clamping portion.

28. The workpiece identification method according to claim 27, characterized in that: In step S3, the following steps are specifically included: based on the first characteristic value of the workpiece and the first characteristic value of the clamping portion, first characteristic data of the workpiece is calculated and generated.

29. The workpiece identification method according to claim 28, characterized in that: The first characteristic data of the workpiece is length dimension data of the workpiece.

30. The workpiece identification method according to claim 22, 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.

31. The workpiece identification method according to claim 23, characterized in that: The second preset angle α2 is equal to the fourth preset angle α4.

32. The workpiece identification method according to claim 18, characterized in that: The identification method further comprises the step of acquiring second feature data of the workpiece.

33. The workpiece identification method according to claim 32, characterized in that: The step of obtaining the second characteristic data of the workpiece specifically includes: Providing a fastening mechanism, the fastening mechanism having scale lines for measurement; The fastening mechanism is screwed onto the clamping portion, and its inner side surface abuts against the surface of the workpiece; Obtaining a scale value of the fastening mechanism; The second feature data of the workpiece is generated by calculation.

34. The workpiece identification method according to claim 33, characterized in that: The second characteristic data of the workpiece is width dimension data of the workpiece.

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