Universal body-equipped robot data acquisition device

Abstract

The invention provides a universal body-equipped robot data acquisition device, and relates to the technical field of robots. The universal body-equipped robot data acquisition device comprises two clamping pieces, a shell, a connecting rod part and a driving part, a cavity is formed in the shell, and mounting holes are formed in the two sides of the shell; the connecting rod component comprises two multi-connecting-rod assemblies, and the two multi-connecting-rod assemblies are hinged to the shell and the corresponding clamping pieces correspondingly. The driving component is connected with the shell and the two multi-connecting-rod assemblies, and the driving component is used for driving the two clamping pieces to get close to each other or get away from each other through the multi-connecting-rod assemblies so as to clamp or release the clamped object. The multi-connecting-rod assembly is adopted to drive the clamping piece to move, the movement precision, repeated positioning precision and stability of the clamping piece are effectively improved, the multi-connecting-rod assembly can automatically adjust the opening and closing angle and position of the clamping piece according to the shapes and sizes of objects, and self-adaptive grabbing of the objects of different shapes, sizes and weights is achieved; and the method can be widely applied to multiple fields.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a universal embodied robot data acquisition device. Background Art

[0002] A robotic gripper is a type of robot end effector and also forms part of the robot's data acquisition system. It is primarily used for grasping and manipulating objects. It mimics the functions of a human hand, enabling flexible movements tailored to specific tasks. Typically mounted at the end of a robot's arm, the gripper grasps and releases objects through mechanical opening and closing. Due to its simple structure and easy control, the two-finger gripper is widely used in industrial automated production lines for tasks such as parts handling and assembly.

[0003] Traditional handheld grippers are mostly single-joint or simple mechanical structures, which are difficult to meet the diverse grasping needs in industrial, commercial and home environments. At the same time, there are problems with the grippers' low motion accuracy and poor stability. Summary of the Invention

[0004] The present invention provides a universal embodied robot data acquisition device, which is used to solve the problems of the prior art such as small application range, low movement precision of the gripper and poor stability.

[0005] The present invention provides a universal embodied robot data acquisition device, comprising: two clamping pieces; A shell having a cavity therein and mounting holes provided on both sides of the shell; A connecting rod component, the connecting rod component including two multi-link assemblies, the two multi-link assemblies being hinged to the housing and the corresponding clamping member respectively; A driving component is connected to the housing and the two multi-link assemblies, and is used to drive the two clamping members to move closer to or away from each other through the multi-link assemblies to clamp or release the clamped object.

[0006] According to a universal embodied robot data acquisition device provided by the present invention, the multi-link assembly includes: a connecting mechanism, wherein a first end of the connecting mechanism is hingedly connected to the corresponding clamping member, and a second end of the connecting mechanism is hingedly connected to the housing via a first pin; At least one connecting rod mechanism, a connecting portion is provided on the sides of the two clamping members facing away from each other, and the connecting rod mechanism is hingedly connected to the connecting portion, the housing and the first pin; A steering link, wherein the first end of the steering link is hinged to the link mechanism through a second pin shaft, and the second end of the steering link passes through the mounting hole and is hinged to the driving component through a connecting rod.

[0007] According to a universal embodied robot data acquisition device provided by the present invention, the multi-link assembly includes two link mechanisms, and the two link mechanisms are symmetrically distributed on both sides of the connecting portion.

[0008] According to a universal embodied robot data acquisition device provided by the present invention, the connecting rod mechanism includes: a first connecting rod, wherein a first end of the first connecting rod is hinged to the connecting portion via a third pin; and a second end of the first connecting rod is hinged to the first end of the steering connecting rod via a second pin; A second connecting rod, wherein a first end of the second connecting rod is hinged to the second pin shaft, and a second end of the second connecting rod is hinged to the first pin shaft.

[0009] According to a universal embodied robot data acquisition device provided by the present invention, the connecting rod mechanism further includes: A third connecting rod, wherein a first end of the third connecting rod is hinged to the third pin shaft, and a second end of the third connecting rod is hinged to the housing.

[0010] According to a universal embodied robot data acquisition device provided by the present invention, the connection mechanism includes: a first connecting member, wherein a first end of the first connecting member is hingedly connected to the corresponding clamping member; A second connecting member, wherein the first end of the second connecting member is hinged to the second end of the first connecting member, and the second end of the second connecting member is hinged to the first pin shaft.

[0011] According to a general embodied robot data acquisition device provided by the present invention, the driving component includes: trigger; A transmission assembly is arranged inside the shell, and the transmission assembly is connected to the trigger and the two connecting rods.

[0012] According to a universal embodied robot data acquisition device provided by the present invention, the transmission assembly includes: a first guide rail connected to the housing; a first slider, the first slider being slidably engaged with the first guide rail and connected to the trigger; a first gear and a second gear, wherein the first gear and the second gear are both sleeved on a first rotating shaft, the first rotating shaft is rotatably engaged with the housing, the trigger is provided with a first rack, and the first gear is meshed with the first rack; a second guide rail connected to the housing; a second slider, the second slider being in sliding engagement with the second guide rail; A second rack is connected to the second slider and meshes with the second gear. Two sides of the second rack close to one end of the connecting rod mechanism are respectively hinged to the two connecting rods.

[0013] According to a universal embodied robot data acquisition device provided by the present invention, the outer diameter of the first gear is greater than the outer diameter of the second gear.

[0014] According to a universal embodied robot data acquisition device provided by the present invention, the transmission assembly further includes: At least one spring, a first end of the spring is connected to the second rack, a second end of the spring is connected to the housing, and the spring is used to return the trigger to an initial position.

[0015] The universal embodied robot data acquisition device provided by the present invention uses a multi-link assembly to drive the movement of the clamping part, effectively improving the movement accuracy, repeat positioning accuracy and stability of the clamping part. The multi-link assembly can automatically adjust the opening and closing angle and position of the clamping part according to the shape and size of the object, realizing adaptive grasping of objects of different shapes, sizes and weights, so that it can be widely used in multiple fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is one of the three-dimensional structural schematic diagrams of the universal embodied robot data acquisition device provided by the present invention.

[0018] Figure 2 This is the second three-dimensional structural diagram of the universal embodied robot data acquisition device provided by the present invention.

[0019] Figure 3 This is one of the exploded structural diagrams of the universal embodied robot data acquisition device provided by the present invention.

[0020] Figure 4 This is the second exploded structural diagram of the universal embodied robot data acquisition device provided by the present invention.

[0021] Figure 5 It is a side structural schematic diagram of the universal embodied robot data acquisition device provided by the present invention.

[0022] Figure 6 yes Figure 5Schematic diagram of the cross-section structure along the section line AA.

[0023] Figure 7 It is a schematic diagram of the connection relationship between the height adjustment bracket and the housing provided by the present invention.

[0024] Reference numerals: 100. Clamping member; 200. Housing; 210. Mounting hole; 220. Upper housing; 230. Lower housing; 240. Handle; 250. Angle sensor; 300. Connecting rod component; 310. Connecting mechanism; 311. First connecting member; 312. Second connecting member; 320. Connecting rod mechanism; 321. First pin; 322. First connecting rod; 323. Third pin; 324. Second connecting rod; 325. Third connecting rod; 330. Steering link; 331. Second pin; 400. Driving component; 410. Trigger; 420. First guide rail; 421. First slider; 422. First gear; 423. Second gear; 424. First rack; 425. Second guide rail; 426. Second slider; 427. Second rack; 428. Spring; 540. Height adjustment bracket. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0026] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0027] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0028] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0029] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0030] The following combination Figures 1-6 The specific structure of the universal embodied robot data acquisition device of the present invention is described.

[0031] like Figure 1 and Figure 2As shown, the universal embodied robot data acquisition device includes two clamping members 100, a housing 200, a connecting rod component 300, and a driving component 400. The housing 200 has a cavity inside to provide installation space for the transmission assembly. The housing 200 is provided with mounting holes 210 on both sides. Preferably, the two mounting holes 210 are arranged symmetrically. The connecting rod component 300 includes two multi-link assemblies, which are respectively hinged to the housing 200 and the corresponding clamping members 100. The driving component 400 is connected to the housing 200 and the two multi-link assemblies. The driving component 400 is used to drive the two clamping members 100 toward or away from each other via the multi-link assembly to clamp or release the clamped object.

[0032] The universal embodied robot data acquisition device provided by the present invention uses a multi-link assembly to drive the movement of the clamping part 100, effectively improving the movement accuracy, repeat positioning accuracy and stability of the clamping part. The multi-link assembly can automatically adjust the opening and closing angle and position of the clamping part according to the shape and size of the object, realizing adaptive grasping of objects of different shapes, sizes and weights, so that it can be widely used in multiple fields.

[0033] In a preferred embodiment of the present invention, the side on which the two clamping members 100 face each other is a clamping portion, and the clamping portion is provided with a flexible gasket, which is made of soft materials such as rubber, silicone, sponge, etc., which have good elasticity and friction coefficient. During the grasping process, the clamping member 100 needs to apply a certain clamping force to the object to ensure that the object does not slip; however, excessive clamping force or uneven force distribution may cause indentations, scratches or other forms of damage to the surface of the object. The provision of a flexible gasket can form a buffer layer between the clamping member 100 and the object to disperse the clamping force and reduce local pressure, thereby effectively protecting the surface of the object from damage. In addition, since flexible materials generally have a higher friction coefficient, this helps to enhance the gripping stability of the clamping member 100 on the object and prevent the object from sliding or falling off during the grasping process.

[0034] In one embodiment of the present invention, Figure 1 As shown, the housing 200 includes an upper shell 220 and a lower shell 230. The upper shell 220 and the lower shell 230 cooperate to form a cavity. The upper shell 220 and the lower shell 230 are connected by bolts. When the device needs to be installed, debugged, or maintained, the housing 200 can be opened quickly and easily, thereby greatly improving the convenience and efficiency of operation. The mounting hole 210 is formed at the connection between the upper shell 220 and the lower shell 230. The mounting hole 210 is a rectangular through-hole. The width of the mounting hole 210 is greater than the width of the steering link 330 to ensure that the steering link 330 can freely pass through the mounting hole 210 without any obstruction during operation.

[0035] Furthermore, a handle 240 is provided at the bottom of the lower housing 230, which conforms to ergonomic principles and is convenient for operators to hold and operate. When the device needs to be operated, the entire device can be easily held by the handle 240, making the operation more stable and comfortable.

[0036] Preferably, a receiving groove is provided on the side of the handle 240 facing the trigger 410. The shape of the receiving groove matches the shape of the trigger 410 and is used to accommodate the trigger 410. When the trigger 410 is manually pushed toward the handle 240, the trigger 410 partially enters the receiving groove, thereby increasing the travel of the trigger 410 and thereby increasing the opening angle of the two clamping members. The larger opening angle means that the clamping member 100 can accommodate objects of larger sizes or different shapes, thereby increasing the applicability and flexibility of the device.

[0037] In a preferred embodiment of the present invention, Figure 7 As shown, a height adjustment bracket 540 is provided on the top of the upper housing 220. This bracket is used to mount a camera, laser tracker, or other sensor to meet diverse gripping and data acquisition requirements in industrial, commercial, and home environments. The bracket 540 is bolted to the gripper assembly and, more specifically, to the upper housing. To adjust the height of the image acquisition device, the operator rotates the bolt to change the distance between the device and the upper housing. The direction of the bolt rotation adjusts the height adjustment bracket 540's position. Rotating the bolt changes the bracket's tilt angle, enabling the image acquisition device to capture images of the target object at the optimal viewing angle. Alternatively, the bracket 540 can be provided with vertically extending waist-shaped holes, with bolts inserted into the waist-shaped holes. The bolts engage the waist-shaped holes to adjust the height of the bracket 540. Furthermore, the use of a bolted connection allows the operator to quickly adjust the height and angle without the need for complex tools. This flexibility is particularly suitable for use in highly dynamic environments, such as laboratories or industrial production lines.

[0038] In a preferred embodiment of the present invention, Figure 1 As shown, the edges of handle 240 are rounded to prevent protruding corners from causing unnecessary pressure on the hand, allowing the operator to maintain a comfortable hand posture and reduce fatigue during prolonged use. In addition, the curvature of handle 240 and the curved design of the grip area conform to the natural curvature of the palm, increasing the contact area between the hand and handle 240 and providing better grip stability.

[0039] Similarly, the edges of the trigger 410 are rounded, making them smooth and conforming to the natural curvature of the finger. When the operator pulls the trigger 410 with his finger, the rounded corners make the contact between the trigger 410 and the finger softer, reducing friction and discomfort on the finger.

[0040] In a preferred embodiment of the present invention, Figure 1 and Figure 2 As shown, the multi-link assembly includes a connecting mechanism 310, at least one linkage 320, and a steering link 330. The connecting mechanism 310 is used to connect the clamping member 100 and the housing 200. The first end of the connecting mechanism 310 is hinged to the corresponding clamping member 100, and the second end of the connecting mechanism 310 is hinged to the housing 200 via a first pin 321. A connecting portion is provided on the sides of the two clamping members 100 facing away from each other. The linkage 320 is hinged to the connecting portion, the housing 200, and the first pin 321. The steering link 330 is curved, allowing it to better adapt to the motion trajectory of the clamping member 100 during movement, reducing motion interference and friction. The first end of the steering link 330 is hinged to the linkage 320 via a second pin 331, allowing the steering link 330 to rotate or swing when driving the linkage 320. The second end of the steering link 330 passes through the mounting hole 210 and is hinged to the driving component 400 through the connecting rod, so that the power of the driving component 400 can be transmitted to the connecting rod mechanism 320 through the connecting rod and the steering link 330, thereby driving the opening and closing action of the clamping member 100.

[0041] In a preferred embodiment of the present invention, Figure 1 and Figure 2 As shown, the multi-link assembly includes two linkage mechanisms 320, which are symmetrically arranged on either side of the connecting portion. The symmetrical arrangement of the linkage mechanisms 320 on either side of the connecting portion has the following two benefits: Firstly, the symmetrical distribution of the linkage mechanisms 320 ensures that the steering link 330 is subjected to balanced forces during operation. When the driving component 400 transmits power through the steering link 330, the linkage mechanisms 320 on both sides can evenly distribute the force, preventing motion deviation or component wear caused by excessive force on one side, thereby effectively improving the motion accuracy and service life of the steering link 330. Secondly, the stability of the connecting portion, as the connecting mechanism between the clamp 100 and the linkage mechanisms 320, directly affects the motion control of the clamp 100. By adopting a symmetrical arrangement, the linkage mechanisms 320 can maintain a more stable motion trajectory when transmitting force, reducing vibration or shaking caused by uneven force transmission. This not only helps improve the gripping accuracy of the clamp 100, but also enhances the reliability and stability of the entire device during operation.

[0042] In a preferred embodiment of the present invention, Figure 1 and Figure 2 As shown, the linkage mechanism 320 includes a first link 322 and a second link 324. The first link 322 is used to transmit the thrust or pull of the steering link 330 to the connection portion, so that the two clamping members 100 move closer to or farther away from each other. The first end of the first link 322 is hinged to the connection portion via a third pin 323, and the second end of the first link 322 is hinged to the first end of the steering link 330 via a second pin 331. The hinged connection at both ends of the first link 322 allows the first link 322 to flexibly transmit force to the connection portion while allowing a certain degree of rotational freedom to accommodate different movement angles. It also ensures that the movement of the steering link 330 can be accurately transmitted to the first link 322, thereby further affecting the movement of the clamping member 100.

[0043] The first end of the second connecting rod 324 is hinged to the second pin 331, and the second end of the second connecting rod 324 is hinged to the first pin 321. The second connecting rod 324 is used to enable the second pin 331 to move around the first pin 321, thereby defining the motion trajectory of the steering link 330. This connection method defines the motion trajectory of the steering link 330, ensuring stable force transmission and avoiding unnecessary shaking or deviation during movement. Because the motion trajectory of the steering link 330 is precisely controlled, the opening and closing of the clamping member 100 is more stable and accurate.

[0044] In one embodiment of the present invention, Figure 1 As shown, the connecting rod mechanism 320 also includes a third connecting rod 325, a first end of the third connecting rod 325 is hinged to the third pin 323, and a second end of the third connecting rod 325 is hinged to the housing 200. The third connecting rod 325 is used to limit the motion trajectory of the first end of the first connecting rod 322.

[0045] When the first link 322 is transmitting force, the third link 325 limits the range of motion and path of the first end of the first link 322, forcing the first end of the first link 322 to move only along a predetermined trajectory. This ensures that the clamping portions of the two clamps 100 can accurately fit together when closed, avoiding problems such as unstable grasping or damage to the object caused by misalignment of the clamps 100. This connection method not only improves the reliability and stability of the grasping operation, ensuring that the clamps 100 can firmly and accurately grasp the target object, but also allows the clamps 100 to precisely control the fit of the clamps 100 to accommodate objects of different shapes and sizes, thereby enhancing the versatility and adaptability of the device.

[0046] In a preferred embodiment of the present invention, Figure 2As shown, an angle sensor 250 is provided at the end of the first pin shaft 321, and the angle sensor 250 is connected to the lower shell 230. The angle sensor 250 is used to measure the rotation angle of the first pin shaft 321, and then measure the opening and closing angle of the two clamping parts 100. The angle sensor 250 uses a rotary encoder or a Hall angle sensor 250.

[0047] In a preferred embodiment of the present invention, Figure 2 As shown, the connection mechanism 310 includes a first connection member 311 and a second connection member 312. The first end of the first connection member 311 is hingedly connected to the corresponding clamping member 100. The first end of the second connection member 312 is hingedly connected to the second end of the first connection member 311, and the second end of the second connection member 312 is hingedly connected to the first pin 321. The use of two hinged connection members not only ensures that the clamping member 100 can rotate or swing flexibly, but also adapts to objects of different shapes and sizes, thereby achieving more stable grasping.

[0048] It should be noted that the number of connecting members in the connecting mechanism 310 is not limited to two, and may be three or more.

[0049] In one embodiment of the present invention, the driving component 400 includes a trigger 410 and a transmission assembly. The transmission assembly is disposed inside the housing 200 and is connected to the trigger 410 and two connecting rods.

[0050] In one embodiment of the present invention, Figure 3 and Figure 4 As shown, the transmission assembly includes a first guide rail 420, a first slider 421, a first gear 422, a second gear 423, a second guide rail 425, a second slider 426, and a second rack 427. The first guide rail 420 is arranged along the movement direction of the trigger 410, and the first guide rail 420 is arranged on one side of the trigger 410. The first guide rail 420 is connected to the housing 200 by screws. The first slider 421 is located between the trigger 410 and the first guide rail 420. The first slider 421 is provided with a slot on the side facing the first guide rail 420. The first slider 421 is slidably fixed to the first guide rail 420. The first slider 421 and the trigger 410 are connected by screws. Of course, the connection method between the first slider 421 and the trigger 410 is not limited to this, and can also be connected by integral molding or other connection methods.

[0051] The first gear 422 and the second gear 423 are both sleeved on the first rotating shaft. The first gear 422 and the second gear 423 are coaxially arranged. Preferably, the first gear 422 and the second gear 423 are integrally formed. Connecting holes are provided on both sides of the housing 200. The two ends of the first rotating shaft are rotatably mounted in the corresponding connecting holes. The trigger 410 is provided with a first rack 424. The first rack 424 is arranged along the length direction of the first guide rail 420. The first gear meshes with the first rack 424. The first rack 424 is integrally formed with the trigger 410. Of course, the connection method between the first rack 424 and the trigger 410 is not limited to this. A screw connection or welding connection method can also be used.

[0052] The second guide rail 425 is disposed along the length of the first guide rail 420 and is connected to the housing 200 via screws. A second slider 426 is provided with a slot on the side facing the second guide rail 425, and the second slider 426 is slidably secured to the second guide rail 425. A second rack 427 is disposed on the side of the second slider 426 facing away from the second guide rail 425 and on the side of the second gear 423 away from the first rack 424. The second rack 427 is connected to the second slider 426 via screws and meshes with the second gear 423. The second rack 427 is hinged to two connecting rods on either side of the end near the linkage 320.

[0053] In one embodiment of the present invention, the outer diameter of the first gear 422 is greater than the outer diameter of the second gear 423, so the number of teeth on the first gear 422 is greater than the number of teeth on the second gear 423. When the trigger 410 drives the first gear 422 to rotate via the first rack 424, the first gear 422 drives the second gear 423 to rotate. Since the number of teeth on the first gear 422 is greater than the number of teeth on the second gear 423, a reduction gear transmission is achieved, that is, the movement of the second rack 427 is reduced, while the torque is increased, thereby achieving a greater clamping force on the two clamping members 100.

[0054] In one embodiment of the present invention, Figure 5 and Figure 6 As shown, the transmission assembly further includes at least one spring 428, a first end of the spring 428 being connected to the second rack 427, and a second end of the spring 428 being connected to the housing 200. The spring 428 is used to return the trigger 410 to its initial position. Specifically, the transmission assembly further includes two springs 428, each disposed on either side of the second rack 427. A first hooking portion is disposed on each side of the second rack 427. Two second hooking portions are disposed on the inner wall of the upper housing 220. The first ends of the two springs 428 are hooked to the two first hooking portions, and the second ends of the two springs 428 are hooked to the two second hooking portions.

[0055] Working principle of the universal embodied robot data acquisition device: When the trigger 410 is pulled by hand, the trigger 410 moves from the initial position to the handle 240, and the trigger 410 drives the first rack 424 to move toward the handle 240. The first rack 424 drives the first gear 422 to rotate, and the rotating first gear 422 drives the second gear 423 to rotate. Since the second rack 427 and the first rack 424 are located on both sides of the second gear 423, and the second rack 427 is engaged with the second gear 423, the second gear 423 pushes the second rack 427 to move away from the handle 240. The two springs 428 are stretched; the second rack 427 pushes the two steering links 330 to move through the two connecting rods, the steering links 330 push the two first links 322 to approach each other, and the two first links 322 push the two clamping parts 100 to approach each other, thereby clamping the object; when the trigger 410 is released, under the elastic force of the spring 428, the movement direction of each component is opposite to the above-mentioned movement direction, and finally the trigger 410 returns to the initial position, and the two clamping parts 100 move away from each other, thereby releasing the object.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A general embodied robot data acquisition device, characterized in that: include: two clamping members (100); A housing (200) having a cavity therein, and mounting holes (210) are provided on both sides of the housing (200); A connecting rod component (300), the connecting rod component (300) comprising two multi-link assemblies, the two multi-link assemblies being hinged to the housing (200) and the corresponding clamping member (100), respectively; A driving component (400) is connected to the housing (200) and the two multi-link assemblies, and the driving component (400) is used to drive the two clamping members (100) to move closer to or farther from each other through the multi-link assemblies to clamp or release the clamped object.

2. The universal embodied robot data acquisition device according to claim 1, characterized in that: The multi-link assembly comprises: a connecting mechanism (310), wherein a first end of the connecting mechanism (310) is hingedly connected to the corresponding clamping member (100), and a second end of the connecting mechanism (310) is hingedly connected to the housing (200) via a first pin (321); at least one connecting rod mechanism (320), a connecting portion being provided on the sides of the two clamping members (100) facing away from each other, and the connecting rod mechanism (320) being hingedly connected to the connecting portion, the housing (200), and the first pin (321); A steering link (330), wherein a first end of the steering link (330) is hinged to the link mechanism (320) via a second pin (331), and a second end of the steering link (330) passes through the mounting hole (210) and is hinged to the driving component (400) via a connecting rod.

3. The universal embodied robot data acquisition device according to claim 2, characterized in that: The multi-link assembly comprises two link mechanisms (320), and the two link mechanisms (320) are symmetrically distributed on both sides of the connecting portion.

4. The universal embodied robot data acquisition device according to claim 2, characterized in that: The connecting rod mechanism (320) comprises: a first connecting rod (322), wherein a first end of the first connecting rod (322) is hinged to the connecting portion via a third pin shaft (323); and a second end of the first connecting rod (322) is hinged to the first end of the steering connecting rod (330) via a second pin shaft (331); A second connecting rod (324), wherein a first end of the second connecting rod (324) is hinged to the second pin shaft (331), and a second end of the second connecting rod (324) is hinged to the first pin shaft (321).

5. The universal embodied robot data acquisition device according to claim 4, characterized in that: The connecting rod mechanism (320) further includes: A third connecting rod (325), wherein a first end of the third connecting rod (325) is hinged to the third pin shaft (323), and a second end of the third connecting rod (325) is hinged to the housing (200).

6. The universal embodied robot data acquisition device according to any one of claims 2 to 5, characterized in that: The connecting mechanism (310) comprises: a first connecting member (311), wherein a first end of the first connecting member (311) is hingedly connected to the corresponding clamping member (100); A second connecting member (312), wherein a first end of the second connecting member (312) is hinged to a second end of the first connecting member (311), and a second end of the second connecting member (312) is hinged to the first pin shaft (321).

7. The universal embodied robot data acquisition device according to claim 4 or 5, characterized in that: The driving component (400) comprises: trigger (410); A transmission assembly is provided inside the housing (200), and the transmission assembly is connected to the trigger (410) and the two connecting rods.

8. The universal embodied robot data acquisition device according to claim 7, characterized in that: The transmission assembly comprises: A first guide rail (420) connected to the housing (200); a first slider (421), the first slider (421) being in sliding engagement with the first guide rail (420), and the first slider (421) being connected to the trigger (410); a first gear (422) and a second gear (423), wherein the first gear (422) and the second gear (423) are both sleeved on a first rotating shaft, the first rotating shaft is rotatably engaged with the housing (200), the trigger (410) is provided with a first rack (424), and the first gear is meshed with the first rack (424); A second guide rail (425) connected to the housing (200); a second slider (426), the second slider (426) being in sliding engagement with the second guide rail (425); A second rack (427), the second rack (427) is connected to the second slider (426) and meshes with the second gear (423), and the second rack (427) is hinged to the two connecting rods on both sides of one end close to the connecting rod mechanism (320).

9. The universal embodied robot data acquisition device according to claim 8, characterized in that: The outer diameter of the first gear (422) is greater than the outer diameter of the second gear (423).

10. The universal embodied robot data acquisition device according to claim 8, characterized in that: The transmission assembly further comprises: At least one spring (428), a first end of the spring (428) is connected to the second rack (427), a second end of the spring (428) is connected to the housing (200), and the spring (428) is used to return the trigger (410) to an initial position.

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