Data acquisition device with one-way self-locking function

Abstract

The application relates to the technical field of training data collection devices, and provides a data collection device with a one-way self-locking function. In the data collection device with the one-way self-locking function, a clamping module comprises a main shell assembly and a clamping jaw assembly, the clamping jaw assembly is slidably installed on the main shell assembly in an opening and closing direction to clamp an object; a locking mechanism comprises a first engaging piece installed on the clamping jaw assembly and a second engaging piece installed on the main shell assembly, the first engaging piece and the second engaging piece are in one-way engaging cooperation to allow the clamping jaw assembly to move relative to the main shell assembly in a clamping closing direction and limit the clamping jaw assembly from moving in an opening and releasing direction; an operating mechanism is connected with one of the first engaging piece and the second engaging piece; the first engaging piece and the second engaging piece are in one-way engaging cooperation when the operating mechanism is in a locking state, and the operating mechanism drives corresponding movement of the first engaging piece or the second engaging piece to make the first engaging piece and the second engaging piece disengage when the operating mechanism is in an unlocking state.

Description

Technical Field

[0001] This application relates to the field of training data acquisition device technology, and in particular to a data acquisition device with a one-way self-locking function. Background Technology

[0002] The handheld training data acquisition device is a handheld interactive information acquisition device, primarily serving the acquisition of training data in the fields of robot operation and human-robot collaboration. The device is equipped with an operating end and an execution end, integrating a six-dimensional force sensor, a tactile sensor, and multiple vision acquisition modules. It can simultaneously capture gripping actions, clamping forces, environmental interaction forces, and motion trajectory information. Through master-slave force feedback, it recreates the realistic gripping sensation and outputs multimodal training data fused from force, touch, and vision. However, this type of device requires data acquisition personnel to manually maintain the continuous gripping force of the gripper, which can easily lead to hand fatigue over prolonged operation. Its lack of ease of operation makes it difficult to support long-term, large-scale multimodal interactive training data acquisition. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in related technologies. To this end, this application proposes a data acquisition device with a one-way self-locking function, which can maintain the clamping state of an object without the user having to exert continuous force, thereby improving data acquisition efficiency and user experience.

[0004] A data acquisition device with a one-way self-locking function according to an embodiment of the first aspect of this application includes: The clamping module includes a main shell assembly and a gripper assembly, wherein the gripper assembly is slidably mounted on the main shell assembly in the opening and closing direction to clamp an object; The locking mechanism includes a first engaging member mounted on the gripper assembly and a second engaging member mounted on the main housing assembly, the first engaging member and the second engaging member being engaged in a one-way engagement to allow the gripper assembly to move relative to the main housing assembly in a clamping closing direction and to restrict the gripper assembly to move in a releasing opening direction. An operating mechanism is connected to one of the first engaging member and the second engaging member; the operating mechanism has a locked state and an unlocked state. When the operating mechanism is in the locked state, it causes the first engaging member and the second engaging member to engage in a one-way manner. When the operating mechanism is in the unlocked state, it drives the corresponding first engaging member or the second engaging member to move so that the first engaging member and the second engaging member disengage.

[0005] According to one embodiment of this application, the first meshing member includes a limiting gear, and the second meshing member includes a limiting rack. The limiting gear rotates in one direction to limit the release of the gripper assembly after it has gripped an object. The operating mechanism is mounted on the gripper assembly, and the limiting gear is rotatably mounted on the operating mechanism; when the operating mechanism is in the unlocked state, it drives the limiting gear to move away from the limiting rack, so that the limiting gear disengages from the limiting rack.

[0006] According to one embodiment of this application, the limiting gear includes: Gear ring, with an empty area; A one-way bearing is installed in the empty area, and the outer ring of the one-way bearing is fixedly connected to the gear ring, while the inner ring of the one-way bearing is fixedly connected to the operating mechanism.

[0007] According to one embodiment of this application, the operating mechanism includes: The trigger element has its first end used for manual operation. The linkage assembly has one end connected to the second end of the trigger; The mounting block is connected to the other end of the connecting rod assembly; the mounting block is slidably mounted on the gripper assembly, and the limiting gear is rotatably assembled on the mounting block.

[0008] According to one embodiment of this application, the operating mechanism further includes a push plate; the first end of the trigger serves as a manual operation end, and the second end is connected to the linkage assembly; The linkage assembly includes: The first link has its first end rotatably connected to the second end of the trigger element; The second link has its first end rotatably connected to the second end of the first link, and its second end rotatably connected to the mounting block. The third link has its first end rotatably connected to the second end of the first link and the first end of the second link, and its second end rotatably connected to the push plate.

[0009] According to one embodiment of this application, the gripper assembly includes gripper units and a transmission rack connected to the gripper units. There are two gripper units arranged opposite to each other, and the transmission rack extends along the opening and closing direction of the gripper assembly. The main housing assembly includes a rotatably mounted transmission gear that meshes with the transmission rack to drive the gripper unit to open and close in the opening and closing direction.

[0010] According to one embodiment of this application, the clamping module further includes: Guide rails are mounted on the main housing assembly; Two sliders are provided, both of which are slidably mounted on the guide rail, and the two sliders are respectively connected to the two gripper units.

[0011] According to one embodiment of this application, the gripper unit includes: Gripper head; A connecting seat is rotatably connected to the gripper head, and the gripper head slides along the opening and closing direction with the connecting seat; the connecting seat is mounted on the slider and can move relative to the slider in the opening and closing direction; an elastic element is provided between the connecting seat and the slider to allow the gripper head to clamp the object.

[0012] According to one embodiment of this application, the main housing assembly further includes a main housing unit and a mounting bracket connected to the main housing unit; the gripper assembly is slidably mounted on the main housing unit in the opening and closing direction.

[0013] According to one embodiment of this application, the data acquisition device with one-way self-locking function further includes a six-dimensional force sensor and a grip handle, wherein the first end face of the six-dimensional force sensor is fixedly connected to the grip handle, and the second end face of the six-dimensional force sensor is fixedly connected to the mounting bracket.

[0014] According to one embodiment of this application, a tactile sensor is provided on the gripper assembly, and the tactile sensor is used to obtain the gripping force of the gripper assembly on the object; The tactile sensor generates a corresponding electrical signal based on its own deformation under clamping action to obtain the clamping force; or, the tactile sensor obtains the clamping force by collecting deformation information of its own contact area during clamping and by visual analysis of the deformation information.

[0015] According to one embodiment of this application, the data acquisition device with unidirectional self-locking function further includes: A vision module, installed on the clamping module, is used to acquire image information of the object; A positioning receiving unit, installed on the clamping module, is used to obtain the spatial position of the data acquisition device with unidirectional self-locking function.

[0016] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects: In this application, the gripper assembly is slidably mounted on the main housing assembly along the opening and closing direction, enabling stable gripping of the target object and adapting to handheld data acquisition scenarios. The first and second engaging parts form a unidirectional engagement, allowing the gripper assembly to move in the clamping closing direction while restricting its movement in the opening direction. Once gripped in place, it automatically maintains the clamping force, eliminating the need for continuous manual force application by data acquisition personnel, effectively reducing hand fatigue, improving operational convenience, and supporting long-term, large-scale multimodal training data acquisition. The operating mechanism has a dual-state locking and unlocking feature. In the locked state, it maintains a unidirectional self-locking effect; in the unlocked state, it drives the corresponding engaging part to move, disengaging the two parts. The gripper assembly can then return to its maximum opening to re-grip the object, balancing self-locking reliability with the flexibility of object handling.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the data acquisition device with unidirectional self-locking function provided in the embodiments of this application. Figure 1 .

[0020] Figure 2 This is a schematic diagram of the structure of the data acquisition device with unidirectional self-locking function provided in the embodiments of this application. Figure 2 (Rear view).

[0021] Figure 3 This is a partial cross-sectional view of the connecting rod assembly provided in the embodiments of this application.

[0022] Figure 4 This is a schematic diagram of the gripper unit provided in the embodiment of this application.

[0023] Figure 5 This is a schematic diagram of the structure of the data acquisition device with unidirectional self-locking function provided in the embodiments of this application. Figure 3 (Front view).

[0024] Figure 6 This is an exploded structural diagram of a data acquisition device with unidirectional self-locking function provided in an embodiment of this application.

[0025] Figure 7 This is a schematic diagram of the data acquisition device provided in the embodiments of this application.

[0026] Figure label: 1. Clamping module; 11. Main shell assembly; 111. Main shell unit; 1111. Transmission gear; 112. Mounting bracket; 113. Mounting support; 12. Gripper assembly; 121. Gripper unit; 1211. Gripper head; 1212. Connecting seat; 122. Transmission rack; 13. Guide rail; 141. First slider; 142. Second slider; 1421. Mounting slot; 2. Locking mechanism; 21. Limit gear; 211. Gear ring; 212. One-way bearing; 22. Limit rack; 3. Operating mechanism; 31. Trigger; 32. Link assembly; 321. First link; 322. Second link; 323. Third link; 33. Mounting block; 34. Push plate; 35. Elastic element; 36. Reset element; 41. Six-dimensional force sensor; 42. Grip handle; 43. Vision module; 44. Positioning receiver unit; 51. Connecting flange; 52. Connecting mechanism; 53. Transmission mechanism. Detailed Implementation

[0027] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0028] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0030] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0031] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification, as well as the features of different embodiments or examples. "A plurality of" should be understood as two or more.

[0032] According to the first aspect of this application, a data acquisition device with a one-way self-locking function is provided, such as Figure 1 As shown, the device includes: a clamping module 1, a locking mechanism 2, and an operating mechanism 3; wherein, the clamping module 1 includes a main shell assembly 11 and a gripper assembly 12, the gripper assembly 12 being slidably mounted on the main shell assembly 11 in the opening and closing direction to clamp an object; the locking mechanism 2 includes a first engaging member mounted on the gripper assembly 12 and a second engaging member mounted on the main shell assembly 11, the first engaging member and the second engaging member being engaged in a one-way engagement to allow the gripper assembly 12 to move relative to the main shell assembly 11 in the clamping closing direction and to restrict the gripper assembly 12 from moving in the releasing opening direction; the operating mechanism 3 is connected to one of the first engaging member and the second engaging member; the operating mechanism 3 has a locked state and an unlocked state, when the operating mechanism 3 is in the locked state, the first engaging member and the second engaging member are engaged in a one-way engagement, when the operating mechanism 3 is in the unlocked state, the corresponding first engaging member or the second engaging member is driven to move, so that the first engaging member and the second engaging member are disengaged.

[0033] The clamping module 1 is divided into a main shell assembly 11 and a gripper assembly 12. The main shell assembly 11 provides a stable support base for the opening and closing action of the gripper assembly 12, while also adapting to the gripping layout and internal component installation requirements of handheld acquisition devices. The locking mechanism 2 sets two engaging parts on the moving side of the gripper assembly 12 and the fixed side of the main shell assembly 11, respectively. It can directly constrain the opening and closing displacement of the gripper without affecting the original transmission link of the gripper assembly 12, thus minimizing interference with the original clamping action. The operating mechanism 3 is connected to one of the engaging parts. The engagement and disengagement states can be switched by the displacement of a single component, simplifying the operation logic in handheld scenarios and adapting to the operating habits of existing handheld acquisition devices without changing the operator's original action flow.

[0034] According to one embodiment of this application, such as Figure 2 As shown, the first meshing member includes a limiting gear 21, and the second meshing member includes a limiting rack 22. The limiting gear 21 can only rotate unidirectionally in the direction corresponding to the clamping closure to prevent the gripper assembly 12 from releasing after clamping the object. The operating mechanism 3 is installed on the gripper assembly 12, and the limiting gear 21 is rotatably mounted on the operating mechanism 3. When the operating mechanism 3 is in the locked state, the limiting gear 21 and the limiting rack 22 remain engaged. When the operating mechanism 3 is in the unlocked state, it drives the limiting gear 21 to move in a direction away from the limiting rack 22, so that the limiting gear 21 and the limiting rack 22 disengage.

[0035] The limiting rack 22 is fixed to the main housing assembly 11 along the opening and closing direction. The limiting gear 21 moves synchronously with the gripper assembly 12, and the opening displacement of the gripper assembly 12 is directly constrained by the unidirectional rotation of the limiting gear 21. The limiting gear 21 is rotatably mounted on the operating mechanism 3, and the operating mechanism 3 can directly drive the gear to disengage from the rack. The limiting gear 21 moves radially away from the tooth surface of the limiting rack 22, without the need for additional transmission components, resulting in a more compact overall structure.

[0036] In practical applications, besides the above-mentioned arrangement, the first and second engaging components can also be positioned and arranged in the following three ways: The first arrangement mounts the operating mechanism 3 onto the main housing assembly 11. The first engaging component on the gripper assembly 12 side includes a limiting gear 21, and the second engaging component on the main housing assembly 11 side includes a limiting rack 22. The operating mechanism 3 is connected to the limiting rack 22, and when unlocking, it drives the limiting rack 22 to move and disengage. The second arrangement mounts the operating mechanism 3 onto the gripper assembly 12. The first engaging component is the limiting rack 22, and the second engaging component is the limiting gear 21. The operating mechanism 3 moves the limiting rack 22 to disengage. The third arrangement mounts the operating mechanism 3 onto the main housing assembly 11. The first engaging component includes the limiting rack 22, and the second engaging component includes the limiting gear 21. The operating mechanism 3 moves the limiting gear 21 to unlock. The movable locking components are concentrated on the main housing side, making the gripper side structure simpler and facilitating independent disassembly and maintenance of the gripper module.

[0037] According to one embodiment of this application, such as Figure 2 As shown, the limiting gear 21 includes a gear ring 211 and a one-way bearing 212; wherein, a void is provided in the middle of the gear ring 211; the one-way bearing 212 is installed in the void, and the outer ring of the one-way bearing 212 is fixedly connected to the gear ring 211, and the inner ring of the one-way bearing 212 is fixedly connected to the operating mechanism 3.

[0038] The limiting gear 21 is divided into two parts: a gear ring 211 and a one-way bearing 212. The one-way rotation function is integrated inside the gear, eliminating the need for an additional external one-way limiting structure. This makes full use of the internal space of the gear, resulting in a more compact overall structure. The arrangement of the outer ring connecting to the gear ring 211 and the inner ring connecting to the operating mechanism 3 allows the gear ring 211 to obtain only one-way rotational freedom, matching the requirement in the previous scheme that the limiting gear 21 can only rotate in one direction when moving with the gripper.

[0039] The outer circumferential surface of the gear ring 211 is evenly distributed with meshing teeth, the tooth profile of which matches the tooth profile of the corresponding limiting rack 22. The outer ring of the one-way bearing 212 is fixed to the inner wall of the gear ring 211 by an interference fit, and the inner ring is circumferentially fixed to the mounting shaft on the operating mechanism 3 by an interference fit. The mounting shaft extends on the operating mechanism 3 in a direction perpendicular to the opening and closing direction.

[0040] The one-way bearing 212 can be directly adopted from the existing technology, such as roller type one-way bearing 212, wedge type one-way bearing 212 or ratchet pawl type one-way bearing 212, etc., as long as it can achieve unidirectional rotation. The specific structure will not be described in detail here.

[0041] According to one embodiment of this application, such as Figure 3As shown, the operating mechanism 3 includes a trigger 31, a linkage assembly 32, and a mounting block 33; one end of the linkage assembly 32 is connected to the trigger 31; the mounting block 33 is connected to the other end of the linkage assembly 32; the mounting block 33 is slidably mounted on the gripper assembly 12 along the engagement / disengagement direction, and the limiting gear 21 is rotatably mounted on the mounting block 33; when the trigger 31 is subjected to force, the linkage assembly 32 moves to drive the mounting block 33 to move.

[0042] The operating mechanism 3 is divided into three parts: a trigger 31, a linkage assembly 32, and a mounting block 33. The trigger 31 receives the unlocking operation from the operator, the linkage assembly 32 converts the operating force into directional sliding displacement, and the mounting block 33, as a load-bearing base, directly drives the limit gear 21 to move. This split design can adapt to the operating space of a handheld data acquisition device, and the sliding installation form can also ensure the stability of the gear movement.

[0043] For example, the trigger 31 can be a press-type structure, exposed on the outer operating area of ​​the gripper assembly 12, allowing the operator to press it with a single finger to trigger the unlocking action. The linkage assembly 32 converts the pressing action of the trigger 31 into a sliding driving force for the mounting block 33.

[0044] For example, such as Figure 5 As shown, a reset element 36 can be provided between the trigger element 31 and the push plate 34 to provide a reset force to the trigger element 31, causing the trigger element 31 to drive the limit gear 21 to reset to the engaged state via the connecting rod assembly 32 and the mounting block 33. Of course, the position of the reset element 36 can be adjusted. For example, the reset element 36 can be provided between the mounting block 33 and the gripper assembly 12. The reset element 36 continuously applies a force towards the engaged position to the mounting block 33. After the trigger element 31 removes the external force, the mounting block 33 automatically drives the limit gear 21 to reset to the engaged state. The reset element 36 can be a reset spring.

[0045] According to one embodiment of this application, such as Figure 2 As shown, the operating mechanism 3 also includes a push plate 34, which is fixedly installed on the gripper assembly 12 and used to drive the gripper assembly 12 to move in the clamping closing direction; the first end of the trigger member 31 serves as a manual operation end, and the second end is connected to the linkage assembly 32; as shown Figure 3 As shown, the linkage assembly 32 includes: a first linkage 321, a second linkage 322, and a third linkage 323; wherein, the first end of the first linkage 321 is rotatably connected to the second end of the trigger member 31; the first end of the second linkage 322 is rotatably connected to the second end of the first linkage 321, and the second end of the second linkage 322 is rotatably connected to the mounting block 33; the first end of the third linkage 323 is rotatably connected to the second ends of the first linkage 321 and the first end of the second linkage 322, and the second end of the third linkage 323 is rotatably connected to the push plate 34.

[0046] The push plate 34 serves as both the force-applying part for the operator to push the gripper to close and a stable hinge point for the third link 323. When the trigger 31 is pressed, the first link 321 receives the pressing force and, through the shared hinge point, drives the second link 322 to pull the mounting block 33 to slide, simultaneously completing the disengagement and unlocking of the limit gear 21. The third link 323 restricts the movement direction of the second link 322, ensuring that the second link 322 stably drives the mounting block 33 away from or towards the limit rack 22.

[0047] The push plate 34 is fixedly connected to the lower part of the gripper assembly 12, corresponding to the position of the operator's fingers when gripping it. The outer surface of the push plate 34 can be provided with an anti-slip structure to facilitate the operator to apply force to push the gripper assembly 12 to close in the opening and closing direction. The trigger 31 is arranged on one side of the push plate 34. When the operator pushes the push plate 34 to close the gripper, the limit gear 21 moves synchronously with the gripper and rotates in one direction, automatically locking after clamping in place; when the trigger 31 is pressed, the connecting rod assembly 32 swings, driving the mounting block 33 to move and releasing the engagement constraint.

[0048] exist Figure 2 When the two push plates 34 on the left and right move towards the center, the gripper assembly 12 clamps the object; when the two push plates 34 move away from each other (when the operating mechanism 3 is in the unlocked state), the gripper assembly 12 releases the object. Figure 3 When the operator moves the lower end of the trigger 31 to the right, the upper end of the trigger 31 rotates to the left, the first connecting rod 321 moves to the left as a whole, and the lower end of the second connecting rod 322 moves to the left and downwards, thereby driving the mounting block 33 to move downwards.

[0049] According to one embodiment of this application, such as Figure 5 As shown, the gripper assembly 12 includes gripper units 121 and transmission racks 122 connected to the gripper units 121. There are two gripper units 121 arranged opposite to each other, and the transmission racks 122 are arranged one-to-one with the two gripper units 121, both extending in the opening and closing direction. The main housing assembly 11 includes a rotatably mounted transmission gear 1111. The transmission gear 1111 meshes with the transmission racks 122 on both sides to drive the gripper units 121 to open and close in the opening and closing direction.

[0050] The aforementioned operating mechanism 3 is configured in two sets, each corresponding to one of the two gripper units 121.

[0051] The double-sided transmission rack 122, in conjunction with the intermediate transmission gear 1111, enables the synchronous reverse opening and closing of the two gripper units 121, ensuring consistent displacement and uniform force on both sides when gripping an object.

[0052] Two transmission racks 122 are fixedly connected to corresponding gripper units 121, arranged parallel to each other in the opening and closing direction, with their tooth surfaces facing each other toward the transmission gear 1111. The transmission gear 1111 is rotatably mounted in the middle of the main housing assembly 11 via a support shaft, and the toothed parts on both sides of the transmission gear 1111 mesh with the corresponding side transmission racks 122.

[0053] According to one embodiment of this application, such as Figure 6 As shown, the clamping module 1 also includes a guide rail 13 and a slider; wherein, the guide rail 13 extends along the opening and closing direction and is mounted on the main housing assembly 11; two sliders are provided and both are slidably mounted on the guide rail 13, and the two sliders are respectively connected to two gripper units 121, providing stable guidance for the opening and closing movement of the gripper units 121, so that the gripper units 121 slide smoothly on the guide rail 13 along the opening and closing direction.

[0054] The sliding guide structure, consisting of the guide rail 13 and the slider, constrains the movement path of the gripper unit 121, preventing lateral swaying or jamming of the gripper when subjected to clamping force. The guide rail 13 is arranged along the opening and closing direction, consistent with the extension direction of the transmission rack 122, and works in conjunction with the transmission path of the rack and pinion to ensure that the transmission direction coincides with the guiding direction. The two sliders correspond to the two gripper units 121 respectively, and can independently bear the force of their respective grippers, resulting in smoother gripper opening and closing movements. This design is suitable for both unidirectional self-locking and synchronous opening and closing schemes, ensuring the accuracy of displacement transmission.

[0055] For example, the surface of the guide rail 13 can be treated with wear-resistant reinforcement to improve the smoothness of the sliding process and extend its service life. Two sliders are symmetrically arranged on the guide rail 13 and are fixed to the corresponding gripper unit 121 and transmission rack 122, respectively, to ensure that the transmission force and sliding guidance are on the same motion path. Limiting blocks are provided at both ends of the guide rail 13 to limit the maximum sliding stroke of the sliders and prevent the sliders from falling off the guide rail 13. The inner wall of the main housing assembly 11 is provided with a mounting groove that matches the guide rail 13. The guide rail 13 is embedded and fixed in the groove, improving the positional accuracy and deformation resistance of the guide rail 13.

[0056] According to one embodiment of this application, such as Figure 6 As shown, the gripper unit 121 includes a gripper head 1211 and a connecting seat 1212; wherein, the connecting seat 1212 is rotatably connected to the gripper head 1211, and can adaptively conform to the surface of the object to be gripped, and allow the gripper head 1211 to slide along the opening and closing direction with the connecting seat 1212; the slider is provided with a mounting groove 1421, the connecting seat 1212 is partially embedded in the mounting groove 1421, and the connecting seat 1212 can move relative to the slider along the opening and closing direction; as Figure 4As shown, an elastic element 35 is provided between the connecting seat 1212 and the slider. The elastic element 35 presses the connecting seat 1212 against the mounting groove 1421, providing an elastic clamping force to make the gripper head 1211 clamp the object and eliminate any possible small gaps between the object and the gripper head 1211. Figure 1 The closing and opening directions of the two gripper heads 1211 are shown.

[0057] A mounting groove 1421 is provided on the slider to accommodate the connecting seat 1212, integrating the sliding guide and elastic compensation into the slider part, making the local structure more compact. The connecting seat 1212 can slide slightly in the opening and closing direction within the mounting groove 1421. With the abutment action of the elastic element 35, it eliminates the gap between the slider and the connecting seat 1212, preventing loosening during transmission, and provides flexibility for the clamping action. This structure works in conjunction with the one-way locking mechanism 2. After locking, the elastic element 35 can continuously output clamping force to compensate for minor deformations of the object, while also offsetting the reverse backlash of the transmission pair, making the clamping state more stable.

[0058] The mounting groove 1421 is formed on the slider along the opening and closing direction, and the extension direction of the mounting groove 1421 is consistent with the opening and closing direction. The side protrusion of the connecting seat 1212 is embedded in the mounting groove 1421 and can slide linearly along the groove cavity. The elastic element 35 is arranged inside the mounting groove 1421 along the opening and closing direction, with one end abutting against the groove wall of the mounting groove 1421 and the other end abutting against the connecting seat 1212, continuously applying an elastic force towards the clamping and closing direction to the connecting seat 1212. The rotation axis of the gripper head 1211 is perpendicular to the opening and closing direction, and a damping structure is provided within the rotation stroke to stably maintain the contact angle.

[0059] In the two sliders mentioned above, each slider can be a single component or formed by two components. For example... Figure 6 As shown, the slider can be formed by splicing two independent components, the first slider 141 and the second slider 142. The first slider 141 is mounted on the guide rail 13, and the second slider 142 is fixedly connected to the first slider 141. An installation groove 1421 is provided on the second slider 142.

[0060] According to one embodiment of this application, such as Figure 6 As shown, the main shell assembly 11 also includes a main shell unit 111 and a mounting bracket 112 connected to the main shell unit 111; the gripper assembly 12 is slidably mounted on the main shell unit 111 in the opening and closing direction; the data acquisition device with one-way self-locking function also includes a six-dimensional force sensor 41 and a grip handle 42, the first end face of the six-dimensional force sensor 41 is fixedly connected to the grip handle 42, and the second end face of the six-dimensional force sensor 41 is fixedly connected to the mounting bracket 112, for collecting multi-dimensional force data during the gripping process.

[0061] The aforementioned transmission gear 1111 is rotatably mounted on the front side of the main housing unit 111, the guide rail 13 is mounted on the front side of the main housing unit 111, and the limiting rack 22 is fixedly mounted on the rear side of the main housing unit 111.

[0062] The main housing unit 111 serves as the supporting base for the clamping module 1, centrally arranging the gripper assembly 12 and the transmission gear 1111 to ensure the compactness of the transmission link. The mounting bracket 112 is separately located on the side of the main housing unit 111 facing the grip handle 42, providing a flat mating surface to allow the six-dimensional force sensor 41 to receive more even force. The six-dimensional force sensor 41 is connected in series in the force transmission path between the grip handle 42 and the mounting bracket 112. The collected multi-dimensional force data can be used for model training. Combined with the unidirectional self-locking structure, once the clamping is stable, there is no need for continuous manual force application, which can reduce the interference of hand tremors on the acquisition accuracy.

[0063] For example, the end faces of the mounting bracket 112 and the main housing unit 111 can be locked together with fasteners, and the end faces can be machined with mounting positioning holes and stop structures that match the six-dimensional force sensor 41. Both end faces of the six-dimensional force sensor 41 are provided with positioning bosses, which cooperate with the corresponding structures of the grip handle 42 and the mounting bracket 112 for positioning, ensuring assembly coaxiality.

[0064] According to one embodiment of this application, a tactile sensor is provided on the gripper assembly 12. The tactile sensor is used to obtain the gripping force of the gripper assembly 12 on the object. The tactile sensor generates a corresponding electrical signal based on its own deformation under the gripping action to obtain the gripping force. Alternatively, the tactile sensor obtains the gripping force by collecting deformation information of its own contact area during the gripping process and by visually analyzing the deformation information.

[0065] The tactile sensor is arranged on the gripping working surface of the gripper head 1211 and directly contacts the object to be gripped. It can acquire force data at the first moment of gripping contact, with a shorter detection path and data that is closer to the actual gripping contact state.

[0066] Force sensors convert their own deformation into electrical signals. They are simple and stable in structure and suitable for conventional clamping force measurement needs. Vision-type tactile sensors can reproduce the details of deformation distribution on the contact surface, making them suitable for scenarios requiring fine force distribution data acquisition. The two types can match different acquisition accuracy requirements.

[0067] According to one embodiment of this application, such as Figure 1 As shown, the data acquisition device with one-way self-locking function also includes a vision module 43 and a positioning receiving unit 44; wherein, the vision module 43 is installed on the clamping module 1 and is used to acquire image information of the object; the positioning receiving unit 44 is installed on the clamping module 1 and is used to acquire the spatial position of the data acquisition device with one-way self-locking function. The acquired data from both types of modules are connected to the overall data transmission link of the device.

[0068] A mounting bracket 113 can also be connected above the mounting bracket 112.

[0069] The vision module 43 is positioned on the side of the clamping module 1 facing the work area, directly opposite the clamping area of ​​the gripper assembly 12. It can synchronously acquire image information throughout the entire process of the gripper assembly 12 approaching and clamping the object, and form a time sequence correspondence with the opening and closing actions of the gripper assembly 12 and the changes in clamping force. The vision module 43 can be fixed to the mounting bracket 112 with bolts.

[0070] The positioning receiving unit 44 is fixed on the rear side of the mounting bracket 112 and moves synchronously with the entire device to collect the position and attitude data of the device in the work space. The two types of modules supplement the information in the visual and spatial dimensions, and together with the existing force and displacement acquisition structure, enrich the dimensions of the collected data and adapt to the anthropomorphic clamping data acquisition needs of multiple scenarios.

[0071] For example, the vision module 43 may employ a monocular vision sensor, which is mounted on the mounting bracket 113 and faces the clamping operation area to acquire image information of the object to be clamped and identify the corresponding size information.

[0072] A data acquisition device according to a second aspect embodiment of this application, such as Figure 7 As shown, the data acquisition device includes: a connecting flange 51, a connecting mechanism 52, a clamping module 1, and a transmission mechanism 53; wherein, the connecting flange 51 is used to connect with the robotic arm; one end of the connecting mechanism 52 is fixedly connected to the connecting flange 51; the clamping module 1 has the same structure as the aforementioned data acquisition device with one-way self-locking function, including a main shell assembly 11 and a gripper assembly 12, the main shell assembly 11 is fixedly connected to the other end of the connecting mechanism 52, and the gripper assembly 12 is slidably installed on the main shell assembly 11 in the opening and closing direction to clamp the object; the transmission mechanism 53 is installed on the main shell assembly 11 and is used to transmit the force applied by the robotic arm to the clamping module 1 and convert it into the displacement of the gripper assembly 12, and to feed back the clamping force of the gripper assembly 12 on the object to the robotic arm; the structure of the transmission mechanism 53 can be set with reference to the structure of the aforementioned transmission gear 1111 and transmission rack 122.

[0073] This data acquisition device can maintain the same clamping and transmission structures as the aforementioned data acquisition device with unidirectional self-locking function, achieving structural isomorphism between the training end and the execution end. In practical applications, the execution geared motor can be directly used as the connecting mechanism 52, further simplifying the overall structure.

[0074] The aforementioned handheld unidirectional self-locking data acquisition device is designed for user handheld operation, collecting anthropomorphic data such as the magnitude of force applied and the opening and closing displacement during the gripping process. The unidirectional self-locking structure stabilizes the gripping state, reduces interference from hand tremors, and outputs higher-quality acquired data for training the gripping control model. This data acquisition device, equipped with the trained model, is connected to a robotic arm to perform actual gripping operations. The corresponding actuation reduction motor continuously outputs power to maintain the gripping state of gripping module 1 locked, while simultaneously collecting force and position data during the operation to verify the model's effectiveness, support continuous iterative optimization of the model, and form a complete technical closed loop.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate this application and are not intended to limit this application. Although this application has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of this application do not depart from the spirit and scope of the technical solutions of this application and should be covered within the scope of the claims of this application.

Claims

1. A data acquisition device with a one-way self-locking function, characterized in that, include: The clamping module (1) includes a main shell assembly (11) and a gripper assembly (12), wherein the gripper assembly (12) is slidably mounted on the main shell assembly (11) in the opening and closing direction to clamp an object; The locking mechanism (2) includes a first engaging member mounted on the gripper assembly (12) and a second engaging member mounted on the main housing assembly (11). The first engaging member and the second engaging member are engaged in a one-way engagement to allow the gripper assembly (12) to move relative to the main housing assembly (11) in the clamping closing direction and to restrict the gripper assembly (12) from moving in the releasing opening direction. The operating mechanism (3) is connected to one of the first meshing member and the second meshing member; the operating mechanism (3) has a locked state and an unlocked state. When the operating mechanism (3) is in the locked state, it causes the first meshing member and the second meshing member to engage in one direction. When the operating mechanism (3) is in the unlocked state, it drives the corresponding first meshing member or the second meshing member to move so that the first meshing member and the second meshing member disengage.

2. The data acquisition device with unidirectional self-locking function according to claim 1, characterized in that, The first engaging member includes a limiting gear (21), and the second engaging member includes a limiting rack (22). The limiting gear (21) rotates in one direction to prevent the gripper assembly (12) from releasing the object after it has been gripped. The operating mechanism (3) is installed on the gripper assembly (12), and the limiting gear (21) is rotatably assembled on the operating mechanism (3). When the operating mechanism (3) is in the unlocked state, it drives the limiting gear (21) to move away from the limiting rack (22), so that the limiting gear (21) and the limiting rack (22) are disengaged.

3. The data acquisition device with unidirectional self-locking function according to claim 2, characterized in that, The limiting gear (21) includes: Gear ring (211) has an empty area; A one-way bearing (212) is installed in the empty area, and the outer ring of the one-way bearing (212) is fixedly connected to the gear ring (211), and the inner ring of the one-way bearing (212) is fixedly connected to the operating mechanism (3).

4. The data acquisition device with unidirectional self-locking function according to claim 2, characterized in that, The operating mechanism (3) includes: Trigger (31), the first end of which serves as the manual operation end; The linkage assembly (32) is connected at one end to the second end of the trigger (31); The mounting block (33) is connected to the other end of the connecting rod assembly (32); the mounting block (33) is slidably mounted on the gripper assembly (12), and the limiting gear (21) is rotatably mounted on the mounting block (33).

5. The data acquisition device with unidirectional self-locking function according to claim 4, characterized in that, The operating mechanism (3) also includes a push plate (34); The link assembly (32) includes: The first link (321) is rotatably connected at its first end to the second end of the trigger (31); The second link (322) has its first end rotatably connected to the second end of the first link (321), and its second end rotatably connected to the mounting block (33); The first end of the third link (323) is rotatably connected to the second end of the first link (321) and the first end of the second link (322), and the second end is rotatably connected to the push plate (34).

6. The data acquisition device with unidirectional self-locking function according to claim 1, characterized in that, The gripper assembly (12) includes gripper units (121) and a transmission rack (122) connected to the gripper units (121). There are two gripper units (121) arranged opposite to each other, and the transmission rack (122) extends along the opening and closing direction of the gripper assembly (12). The main housing assembly (11) includes a rotatably mounted transmission gear (1111), which meshes with the transmission rack (122) to drive the gripper unit (121) to open and close in the opening and closing direction.

7. The data acquisition device with unidirectional self-locking function according to claim 6, characterized in that, The clamping module (1) further includes: The guide rail (13) is mounted on the main housing assembly (11); Two sliders are provided, both of which are slidably mounted on the guide rail (13), and the two sliders are respectively connected to the two gripper units (121).

8. The data acquisition device with unidirectional self-locking function according to claim 7, characterized in that, The gripper unit (121) includes: Gripper head (1211); A connecting seat (1212) is rotatably connected to the gripper head (1211) and allows the gripper head to slide along the opening and closing direction with the connecting seat (1212); the connecting seat (1212) is mounted on the slider and can move relative to the slider along the opening and closing direction; an elastic element (35) is provided between the connecting seat (1212) and the slider to allow the gripper head (1211) to clamp the object.

9. The data acquisition device with unidirectional self-locking function according to any one of claims 1 to 8, characterized in that, The main shell assembly (11) further includes a main shell unit (111) and a mounting bracket (112) connected to the main shell unit (111); the gripper assembly (12) is slidably mounted on the main shell unit (111) in the opening and closing direction.

10. The data acquisition device with unidirectional self-locking function according to claim 9, characterized in that, The data acquisition device with one-way self-locking function also includes a six-dimensional force sensor (41) and a grip handle (42). The first end face of the six-dimensional force sensor (41) is fixedly connected to the grip handle (42), and the second end face of the six-dimensional force sensor (41) is fixedly connected to the mounting bracket (112).

11. The data acquisition device with unidirectional self-locking function according to any one of claims 1 to 8, characterized in that, A tactile sensor is provided on the gripper assembly (12), and the tactile sensor is used to obtain the gripping force of the gripper assembly (12) on the object; The tactile sensor generates a corresponding electrical signal based on its own deformation under clamping action to obtain the clamping force; or, the tactile sensor obtains the clamping force by collecting deformation information of its own contact area during clamping and by visual analysis of the deformation information.

12. The data acquisition device with unidirectional self-locking function according to any one of claims 1 to 8, characterized in that, Also includes: The vision module (43) is installed on the clamping module (1) and is used to acquire image information of the object; The positioning receiving unit (44) is installed on the clamping module (1) and is used to obtain the spatial position of the data acquisition device with unidirectional self-locking function.

Images