Hybrid force-position control data acquisition device, data acquisition device and robot arm

Abstract

The application relates to the technical field of training data collection devices, and provides a force-position hybrid control data collection device, a data collection device and a mechanical arm. The force-position hybrid control data collection device comprises a handheld force applying module, a mounting seat, a connecting mechanism, a clamping module and a transmission mechanism. The handheld force applying module is used for allowing a user to hold and apply an operating force and receiving feedback of a clamping reaction force. The mounting seat is fixedly connected with the handheld force applying module. One end of the connecting mechanism is fixedly connected with the mounting seat. The clamping module comprises a main shell assembly and a clamping jaw assembly. The main shell assembly is fixedly connected with the other end of the connecting mechanism. The clamping jaw assembly is slidably installed in the main shell assembly in an opening and closing direction to clamp an object. The transmission mechanism is installed in the main shell assembly and is used for transmitting the force applied by the user on the handheld force applying module to the clamping module and converting the force into displacement of the clamping jaw assembly, and feeding back the clamping force of the clamping jaw assembly on the object to the handheld force applying module.

Description

Technical Field

[0001] This application relates to the field of training data acquisition device technology, and in particular to a force-position hybrid control data acquisition device, a data acquisition device, and a robotic arm. Background Technology

[0002] Currently, data acquisition for robot gripping skill training primarily utilizes handheld devices or remote acquisition methods. However, these devices generally only translate the operator's actions into the opening and closing displacement of the gripper, failing to provide feedback of the gripping force to the operating end. This hinders the formation of a dual-sensory interaction of position and force, resulting in insufficient realism in the anthropomorphic interaction. Consequently, the acquired training data is limited in dimensionality and realism, which not only reduces the training effectiveness of subsequent gripping control algorithms but also impedes the effective reuse and transfer of the acquired data at the robot's end effector. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a force-position hybrid control data acquisition device, which can effectively solve the problems of insufficient realism in the anthropomorphic interaction of the data acquisition process and low data quality in the prior art.

[0004] This application also proposes a data acquisition device.

[0005] This application also proposes a robotic arm.

[0006] A force-position hybrid control data acquisition device according to a first aspect embodiment of this application includes: The handheld force application module is used by the user to hold and apply operating force, and to receive feedback clamping reaction force; The mounting base is fixedly connected to the handheld force application module; The connecting mechanism is fixedly connected at one end to the mounting base; The clamping module includes a main shell assembly and a gripper assembly. The main shell assembly is fixedly connected to the other end of the connecting mechanism. The gripper assembly is slidably mounted on the main shell assembly in the opening and closing direction to clamp an object. A transmission mechanism, mounted on the main housing assembly, is used to transmit the force applied by the user to the handheld force application module to the clamping module and convert it into the displacement of the gripper assembly, and to feed back the clamping force of the gripper assembly on the object to the handheld force application module.

[0007] According to one embodiment of this application, the handheld force application module includes: Handheld stick; Servo motor, mounted on the handheld stick; A finger pressure plate is rotatably mounted on the servo motor. The rotation of the finger pressure plate drives the gripper assembly to slide through the transmission mechanism.

[0008] According to one embodiment of this application, the gripper assembly includes gripper units and a rack connected to the gripper units. There are two gripper units arranged opposite to each other, and the rack extends along the sliding direction of the gripper assembly.

[0009] According to one embodiment of this application, the transmission mechanism includes: An actuator motor, electrically connected to the servo motor, is used to receive the rotation angle signal of the servo motor and output driving torque; The transmission gear is connected to the output end of the actuator motor and meshes with the rack to drive the gripper unit to open and close in the sliding direction.

[0010] According to one embodiment of this application, the clamping module further includes: Two balancing rollers are rotatably mounted on the main housing assembly. The balancing rollers are mounted on the side of the rack facing away from the drive gear to constrain the position of the rack and keep the rack meshing with the drive gear.

[0011] 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. The two sliders are respectively connected to the two gripper units, so that the gripper units can slide on the guide rail.

[0012] 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 connecting seat is provided with a mounting groove. The slider is at least partially installed in the mounting groove to connect with the connecting seat; the side wall portion of the connecting seat forming the mounting groove is connected to the rack.

[0013] According to one embodiment of this application, the main housing assembly 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 an opening / closing direction, and the transmission mechanism is mounted on the main housing unit; The connecting mechanism includes a six-dimensional force sensor, the first end face of which is fixedly connected to the mounting base, and the second end face of which 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.

[0015] According to one embodiment of this application, 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.

[0016] According to one embodiment of this application, the force-position hybrid control data acquisition device further includes: A vision module, installed on the clamping module, is used to acquire image information of the object; A positioning receiving unit is installed on the mounting base and is used to acquire the spatial position of the force-position hybrid control data acquisition device.

[0017] According to a second aspect of this application, a data acquisition device includes: Connecting flange, used for connection to the robotic arm; The connecting mechanism is fixedly connected at one end to the connecting flange; The clamping module includes a main shell assembly and a gripper assembly. The main shell assembly is fixedly connected to the other end of the connecting mechanism. The gripper assembly is slidably mounted on the main shell assembly in the opening and closing direction to clamp an object. A transmission mechanism, mounted on the main housing assembly, is used to transmit the force applied by the robotic arm to the gripping module and convert it into the displacement of the gripper assembly, and to feed back the gripping force of the gripper assembly on the object to the robotic arm.

[0018] According to a third aspect of this application, a robotic arm includes a robotic arm body and the aforementioned data acquisition device disposed at the end of the robotic arm body.

[0019] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects: The force-position hybrid control data acquisition device of this application, through the coordinated operation of a handheld force application module, a mounting base, a connecting mechanism, a clamping module, and a transmission mechanism, can achieve a human-like data acquisition effect with bidirectional force-position mapping. The handheld force application module has the dual functions of applying force and receiving clamping reaction force. Together with the stable force transmission carrier formed by the mounting base and the connecting mechanism, it connects the handheld operating end and the clamping execution end, providing reliable structural support for the bidirectional transmission of position and force. The gripper assembly slidably arranged along the opening and closing direction in the clamping module can convert the operating force applied by the operator into precise gripper opening and closing displacement, realizing a positive mapping from the operating position to the gripper opening and closing position. The transmission mechanism simultaneously completes the conversion of positive force and displacement and the feedback of reverse clamping force, forming a complete force-position hybrid bidirectional control link, effectively improving the realism of human-like interaction. The training data acquired in this way is more complete in dimensions and more realistic, which can significantly improve the training effect of subsequent clamping control algorithms and facilitate the effective reuse and transfer of the acquired data at the end of the robot's execution.

[0020] 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

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the force-position hybrid control data acquisition device provided in the embodiments of this application. Figure 1 .

[0023] Figure 2 This is an exploded structural diagram of the force-position hybrid control data acquisition device provided in the embodiments of this application.

[0024] Figure 3 This is a schematic diagram of the force-position hybrid control data acquisition device provided in the embodiments of this application. Figure 2 (Front view).

[0025] Figure 4 This is a schematic diagram of the data acquisition device provided in the embodiments of this application.

[0026] Figure label: 1. Handheld force application module; 11. Handheld lever; 12. Servo motor; 13. Finger pressure plate; 14. Pressure plate limit block; 15. Return spring; 2. Mounting base; 21. First clearance hole; 3. Connecting mechanism; 31. Six-dimensional force sensor; 4. Clamping module; 41. Main shell assembly; 411. Main shell unit; 4111. Second clearance hole; 412. Mounting bracket; 42. Gripper assembly; 421. Gripper unit; 4211. Gripper head; 4212. Connecting seat; 4213. Mounting slot; 422. Rack; 43. Guide rail; 44. Slider; 45. Balance roller; 5. Transmission mechanism; 51. Actuating motor; 52. Transmission gear; 6. Visual module; 7. Positioning and receiving unit; 8. Connecting flange. 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 an embodiment of the first aspect of this application, a force-position hybrid control data acquisition device is provided, such as... Figure 1 As shown, the device includes a handheld force application module 1, a mounting base 2, a connecting mechanism 3, a clamping module 4, and a transmission mechanism 5. The handheld force application module 1 is used by the user to grip and apply operating force, and to receive feedback clamping reaction force. The mounting base 2 is fixedly connected to the handheld force application module 1. One end of the connecting mechanism 3 is fixedly connected to the mounting base 2. The clamping module 4 includes a main shell assembly 41 and a gripper assembly 42. The main shell assembly 41 is fixedly connected to the other end of the connecting mechanism 3, and the gripper assembly 42 is slidably mounted on the main shell assembly 41 in the opening and closing direction to clamp an object. The transmission mechanism 5 is mounted on the main shell assembly 41 and is used to transmit the force applied by the user on the handheld force application module 1 to the clamping module 4 and convert it into the displacement of the gripper assembly 42, and to feed back the clamping force of the gripper assembly 42 on the object to the handheld force application module 1.

[0033] The handheld force application module 1 can be gripped to conform to the natural operating posture of the human hand, replicating the force application habits of real clamping operations and ensuring the anthropomorphic nature of the collected data. The mounting base 2 and the connecting mechanism 3 form a rigid connection frame, which on the one hand fixes the relative position of the handheld operating end and the clamping execution end to avoid structural displacement during the force application process, and on the other hand provides a space for accommodation and protection for the internal transmission path. In the clamping module 4, the main shell assembly 41 undertakes the functions of load bearing and guidance, and the gripper assembly 42 adopts a sliding opening and closing form to match the common operation scenario of parallel clamping, ensuring the linearity of displacement transmission. The transmission mechanism 5 is built into the main shell assembly 41, simultaneously bearing the bidirectional transmission of positive force application and reverse feedback, forming a complete human-machine force interaction path with the handheld force application module 1.

[0034] For example, the handheld force application module 1 supports various force application operations such as pressing and sliding, adapting to the operating habits of different clamping scenarios. The force-position hybrid control data acquisition device is also equipped with a signal transmission cable, which can be connected to an external host computer to upload the collected force, gripper displacement, and clamping reaction force data in real time, supporting data storage, analysis, and subsequent algorithm calls.

[0035] For example, the surface of the handheld force application module 1 can be set with an arc adapted to human hand grip, and the gripping area is covered with a non-slip flexible pad to reduce hand fatigue caused by long-term data acquisition operations. The gripping working surface of the gripper assembly 42 is provided with non-slip texture and a flexible contact layer to adapt to the gripping needs of objects of different materials and reduce the risk of objects slipping during the gripping process. The force-position hybrid control data acquisition device adopts a modular disassembly design, and the modules can be quickly disassembled and assembled with fasteners, which facilitates component replacement and daily maintenance in different scenarios.

[0036] According to one embodiment of this application, such as Figure 2 As shown, the handheld force application module 1 includes a handheld lever 11, a servo motor 12, and a finger pressure plate 13; wherein, the servo motor 12 is mounted on the handheld lever 11; the finger pressure plate 13 is rotatably mounted on the servo motor 12 and is connected to the output end of the servo motor 12 for transmission, and can be driven to rotate by the user's finger; the rotation of the finger pressure plate 13 drives the gripper assembly 42 to slide through the transmission mechanism 5, and the servo motor 12 can output feedback torque to the finger pressure plate 13 to transmit the clamping reaction force.

[0037] The handheld lever 11 serves as the main gripping component, fixing the relative position of the servo motor 12 and the finger pressure plate 13 to match the operating posture of a human hand holding the device with one hand, thus aligning with the anthropomorphic data acquisition and positioning of the overall device. The servo motor 12 provides rotational support for the finger pressure plate 13, receiving and transmitting the user's pressing pressure backward. Simultaneously, it receives the clamping reaction force signal from the transmission mechanism 5, converting it into torque that acts on the finger pressure plate 13, forming a bidirectional force-position transmission structure. The finger pressure plate 13 employs a rotating operation method, conforming to the natural pressing motion of the fingers.

[0038] The servo motor 12 has a built-in angle sensing unit that can collect the rotation angle data of the finger pressure plate 13 in real time and convert it into the opening and closing displacement signal of the gripper assembly 42. The servo motor 12 is also equipped with a pressure plate limit block 14 to limit the maximum rotation amplitude of the finger pressure plate 13 and prevent excessive rotation from damaging the internal transmission structure.

[0039] A reset spring 15 can also be set on the hand-held force application module 1. One end of the reset spring 15 abuts against the hand-held lever 11 and the other end abuts against the finger pressure plate 13. When the finger pressure is removed, it can push the finger pressure plate 13 back to the initial position, maintain the initial opening and closing state of the gripper assembly 42, and at the same time assist in buffering the operating force and optimize the rebound feel of the pressing operation.

[0040] According to one embodiment of this application, such as Figure 2 and Figure 3 As shown, the gripper assembly 42 includes gripper units 421 and racks 422 connected to the gripper units 421. There are two gripper units 421 arranged opposite to each other, and each gripper unit 421 is connected to a rack 422. The racks 422 extend along the sliding direction of the gripper assembly 42.

[0041] According to one embodiment of this application, such as Figure 2 As shown, the transmission mechanism 5 includes an actuator motor 51 and a transmission gear 52; wherein, the actuator motor 51 is electrically connected to the servo motor 12, and is used to receive the rotation angle signal of the servo motor 12 and output the driving torque, and can transmit the clamping reaction force signal back to the servo motor 12; the transmission gear 52 is connected to the output end of the actuator motor 51 and meshes with the rack 422 to drive the gripper unit 421 to open and close along the sliding direction.

[0042] The transmission system, employing a gear and rack 422 meshing, smoothly converts the rotation of the actuator motor 51 into linear sliding of the gripper, matching the requirement for the gripper assembly 42 to slide along the opening and closing direction. Two opposing gripper units 421, each cooperating with the rack 422, achieve synchronous opening and closing actions, corresponding to the single-finger pressing operation of the handheld device. The actuator motor 51 and the servo motor 12 are electrically connected, allowing for both forward transmission of rotation angle signals to drive the gripper opening and closing, and reverse transmission of clamping reaction force signals, achieving bidirectional force transmission and ensuring bidirectional link continuity.

[0043] For example, two racks 422 are respectively fixed to the opposite inner sides of two gripper units 421. The transmission gear 52 meshes with both racks 422 simultaneously, driving the two gripper units 421 to synchronously complete the actions of clamping towards each other or opening away from each other. The gripping working surface of the gripper unit 421 is provided with a detachable flexible contact pad to adapt to objects with different surface morphologies, improving the stability of the gripping process. The actuator motor 51 has a built-in force sensing unit, which can collect and transmit the reaction force value during the gripping process in real time.

[0044] For example, the actuator 51 is a geared motor, which can output greater driving torque and adapt to the clamping requirements of different objects. The transmission gear 52 is fixedly connected to the output end of the geared motor through a flange structure, improving the stability of the transmission connection. The mounting base 2 is provided with a first clearance hole 21 to avoid the end structure of the geared motor, ensuring assembly accuracy and making the overall structure more compact.

[0045] According to one embodiment of this application, such as Figure 2 As shown, the clamping module 4 also includes a guide rail 43 and sliders 44; the guide rail 43 is mounted on the main housing assembly 41; two sliders 44 are provided, both of which are slidably mounted on the guide rail 43, and the two sliders 44 are respectively connected to two gripper units 421, providing stable guidance for the opening and closing movement of the gripper units 421, allowing the gripper units 421 to slide on the guide rail 43. Specifically, the guide rail 43 is mounted on the main housing unit 411.

[0046] The sliding guide structure composed of guide rail 43 and slider 44 can constrain the movement path of gripper unit 421, preventing lateral swaying or jamming of the gripper when subjected to clamping force. Guide rail 43 is arranged along the opening and closing direction, consistent with the extension direction of rack 422, and works in conjunction with the transmission path of rack 422 to ensure that the transmission direction coincides with the guiding direction. The two sliders 44 correspond to the two gripper units 421 respectively, and can independently bear the force of their respective grippers, resulting in smoother gripper opening and closing movements. This adapts to the overall bidirectional force transmission scheme, ensuring the accuracy of displacement transmission.

[0047] For example, the surface of the guide rail 43 can be treated with wear-resistant reinforcement to improve the smoothness of the sliding process and extend its service life. Two sliders 44 are symmetrically arranged on the guide rail 43 and are fixed to the corresponding gripper unit 421 and rack 422, 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 43 to limit the maximum sliding stroke of the sliders 44 and prevent the sliders 44 from dislodging from the guide rail 43. The inner wall of the main housing assembly 41 is provided with a mounting groove that matches the guide rail 43. The guide rail 43 is embedded and fixed in the groove, improving the positional accuracy and deformation resistance of the guide rail 43.

[0048] According to one embodiment of this application, such as Figure 2 As shown, the gripper unit 421 includes a gripper head 4211 and a connecting seat 4212; wherein, the connecting seat 4212 is rotatably connected to the gripper head 4211, and can adaptively conform to the surface of the object to be gripped, and the connecting seat 4212 is provided with a mounting groove 4213, and the slider 44 is at least partially installed in the mounting groove 4213 to connect with the connecting seat 4212; the side wall portion of the connecting seat 4212 forming the mounting groove 4213 is fixedly connected to the rack 422.

[0049] The connecting seat 4212 serves as the intermediate support base of the gripper unit 421, connecting the slider 44, rack 422, and gripper head 4211. The mounting groove 4213 is used to embed the slider 44, which enhances the connection strength between the connecting seat 4212 and the slider 44, ensuring direct and smooth transmission of guiding force. The gripper head 4211 adopts a rotating connection, automatically adjusting the gripping angle when gripping objects of different shapes, allowing the gripping surface to fully conform to the object surface, avoiding localized force deviations that could affect the accuracy of data acquisition.

[0050] The rotation axis of the gripper head 4211 is perpendicular to the opening and closing direction of the gripper assembly 42. A damping structure is provided within the rotation stroke to ensure that the gripper head 4211 can stably maintain the contact angle during clamping. The groove wall of the mounting slot 4213 is provided with positioning protrusions, and the corresponding position of the slider 44 is provided with matching positioning grooves. After being installed, it can limit the relative offset between the slider 44 and the connecting seat 4212. The side wall of the connecting seat 4212 is provided with a rack 422 mounting position. After the end of the rack 422 is inserted into the mounting position, it is locked by fasteners to ensure that there is no relative movement between the rack 422 and the connecting seat 4212 during transmission. The clamping working surface of the gripper head 4211 is provided with anti-slip texture to improve the stability of the clamping contact.

[0051] According to one embodiment of this application, such as Figure 2 As shown, the clamping module 4 also includes two balance rollers 45, both of which are rotatably mounted on the main housing assembly 41. The two balance rollers 45 correspond one-to-one with the two racks 422. The balance rollers 45 are mounted on the side of the rack 422 facing away from the transmission gear 52 and roll against the back of the rack 422 to constrain the position of the rack 422 and keep the rack 422 meshing with the transmission gear 52. Figure 3 The diagram shows the location of the balance roller 45 (which is obscured by the main housing assembly 41).

[0052] The balancing roller 45 is positioned on the side of the rack 422 away from the transmission gear 52, and together with the transmission gear 52, it restricts the radial position of the rack 422 from both sides, ensuring smooth transmission of the rack and pinion 422. When transmitting clamping force, the rack 422 tends to deviate in the direction away from the gear. The roller provides reverse support through rolling contact, which neither hinders the sliding of the rack 422 in the opening and closing direction nor obstructs its movement path, thus preventing problems such as skipped teeth or excessive meshing clearance. Combined with the guiding effect of the guide rail 43 and the slider 44, the transmission process of the rack 422 is smoother, effectively ensuring the accuracy of displacement and force transmission.

[0053] For example, the balancing roller 45 can be rotatably mounted on the inner wall of the main housing assembly 41 via a fixed pivot. The outer circumference of the roller is made of wear-resistant material, which can buffer the minor vibrations of the rack 422 during rolling. The two balancing rollers 45 are respectively arranged at the middle section of the corresponding rack 422, and evenly bear the lateral force of the rack 422.

[0054] For example, the balancing roller 45 can be composed of a roller body, a bearing and a fixed shaft. The bearing is embedded in the center of the roller body, the fixed shaft passes through the bearing and is fixed at one end to the inner wall of the main housing assembly 41, and the outer peripheral surface of the roller body rolls against the back of the rack 422, and can slide and rotate synchronously with the rack 422.

[0055] According to one embodiment of this application, such as Figure 2 As shown, the main housing assembly 41 includes a main housing unit 411 and a mounting bracket 412 connected to the main housing unit 411; the gripper assembly 42 is slidably mounted on the main housing unit 411 along the opening and closing direction, and the transmission mechanism 5 is mounted on the main housing unit 411; the connecting mechanism 3 includes a six-dimensional force sensor 31, the first end face of which is fixedly connected to the mounting base 2, and the second end face of which is fixedly connected to the mounting bracket 412, for collecting multi-dimensional force data during the gripping process. The main housing unit 411 is provided with the aforementioned balance roller 45.

[0056] The main housing unit 411 serves as the supporting base for the clamping module 4, centrally arranging the gripper assembly 42 and the transmission mechanism 5 to ensure the compactness of the transmission link. The mounting bracket 412 is separately positioned on the side of the main housing unit 411 facing the mounting base 2, providing a flat mating surface to allow for more uniform force distribution on the six-dimensional force sensor 31. The six-dimensional force sensor 31 is connected in series in the force transmission path between the mounting base 2 and the mounting bracket 412, collecting multi-dimensional force data and transmitting it to the host computer for model training.

[0057] For example, the mounting bracket 412 is a plate structure, which is locked to the end of the main housing unit 411 by fasteners, and its surface is machined with mounting positioning holes and stop structures that match the six-dimensional force sensor 31. Both end faces of the six-dimensional force sensor 31 are provided with positioning bosses, which cooperate with the corresponding structures of the mounting base 2 and the mounting bracket 412 to ensure assembly coaxiality.

[0058] For example, the main housing unit 411 has a second clearance hole 4111 on the side wall facing the mounting base 2. The transmission gear 52 passes through the second clearance hole 4111 and docks with the output end of the actuator motor 51 on the outside, ensuring a compact layout of the transmission structure.

[0059] According to one embodiment of this application, a tactile sensor is provided on the clamping working surface of the gripper assembly 42, and the tactile sensor is used to obtain the clamping force of the gripper assembly 42 on the object.

[0060] According to one embodiment of this application, the tactile sensor can be in the form of a force sensor, generating a corresponding electrical signal based on its own deformation under clamping action to obtain clamping force; or, the tactile sensor can be a vision-type tactile sensor, based on collecting deformation information of its own contact area during clamping, and obtaining clamping force through visual analysis of the deformation information, and the collected data is synchronously connected to the overall data transmission link of the device.

[0061] The tactile sensor is arranged on the gripping working surface of the gripper head 4211 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.

[0062] 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.

[0063] According to one embodiment of this application, such as Figure 1 and Figure 2 As shown, the force-position hybrid control data acquisition device also includes a vision module 6 and a positioning receiving unit 7; wherein, the vision module 6 is installed on the side of the clamping module 4 facing the clamping operation, and is used to acquire image information of the object; the positioning receiving unit 7 is installed on the mounting base 2, and is used to acquire the spatial position of the force-position hybrid control data acquisition device; the data acquired by both types of modules are connected to the overall data transmission link of the device.

[0064] The vision module 6 is positioned on the side of the clamping module 4 facing the work area, directly opposite the gripping area of ​​the gripper. It can synchronously acquire image information throughout the entire process of the gripper approaching and clamping the object, forming a time-series correspondence with the opening and closing movements of the gripper and changes in clamping force. The positioning receiving unit 7 is fixed on the mounting base 2 and moves synchronously with the entire device, acquiring the device's position and attitude data within the workspace. These two types of modules supplement the visual and spatial dimensions of information, complementing the existing force and displacement acquisition structures to enrich the dimensions of the acquired data and adapt to the anthropomorphic gripping data acquisition needs of various scenarios.

[0065] For example, the vision module 6 may employ a monocular vision sensor, which is mounted on the mounting bracket 412 and faces the clamping operation area to acquire image information of the object to be clamped and identify the corresponding size information.

[0066] It should be noted that the force-position hybrid finger device in this application simultaneously collects two types of data: position displacement and force of the clamping action. In the positive direction, it maps the force applied by the user's hand to the opening and closing displacement of the gripper, and in the negative direction, it feeds back the clamping reaction force to the operating end, achieving bidirectional synchronous acquisition and transmission of position and force. The operation of the finger pressure plate 13 is transmitted via the transmission mechanism 5, correspondingly controlling the opening and closing displacement of the gripper unit 421. The user's applied force and the actual clamping force of the gripper assembly 42 are not simply positively correlated. The hardness and other properties of the object being clamped affect the actual magnitude of the clamping force. Therefore, it is necessary to transmit the actual clamping force in the negative direction to the operating end to provide the operator with realistic force feedback.

[0067] A data acquisition device according to a second aspect embodiment of this application, such as Figure 4 As shown, the data acquisition device includes: a connecting flange 8, a connecting mechanism 3, a clamping module 4, and a transmission mechanism 5; wherein, the connecting flange 8 is used to connect with the robotic arm; one end of the connecting mechanism 3 is fixedly connected to the connecting flange 8; the clamping module 4 includes a main housing assembly 41 and a gripper assembly 42, the main housing assembly 41 is fixedly connected to the other end of the connecting mechanism 3, and the gripper assembly 42 is slidably mounted on the main housing assembly 41 in the opening and closing direction to clamp an object; the transmission mechanism 5 is mounted on the main housing assembly 41 and is used to transmit the force applied by the robotic arm to the clamping module 4 and convert it into the displacement of the gripper assembly 42, and to feed back the clamping force of the gripper assembly 42 on the object to the robotic arm.

[0068] Except for replacing the handheld force application module 1 with the connecting flange 8 to connect to the robotic arm, the remaining internal structures of the clamping module 4, transmission mechanism 5, and connecting mechanism 3 can be kept consistent with the aforementioned force-position hybrid control data acquisition device, achieving structural isomorphism between the training end and the execution end; of course, the execution motor 51 in the transmission mechanism 5 can also be directly used as the connecting mechanism 3, further simplifying the overall structure.

[0069] The aforementioned force-position hybrid control data acquisition device is handheld and collects anthropomorphic data such as the magnitude of applied force and opening / closing displacement during the gripping process, which is used to train the gripping control model. This data acquisition device, equipped with the trained model, is connected to the robotic arm to perform actual gripping operations, while simultaneously collecting force-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.

[0070] According to a third aspect of this application, a robotic arm includes a robotic arm body and the aforementioned data acquisition device disposed at the end of the robotic arm body; the robotic arm body establishes signal interaction with the data acquisition device, and can send control commands to the data acquisition device and receive the acquired force and position data.

[0071] The data acquisition device mounted on the end of the robotic arm serves as the execution terminal, structurally isomorphic to the handheld force-position hybrid control data acquisition device. The only difference between the two types of devices lies in their connection structure, which allows for adaptive adjustments. Initially, the handheld device is used to collect samples held by the operator to complete model training. After training, the data acquisition device deployed to the end of the robotic arm is used for field testing. The data generated from the field testing is then used for model optimization, thus establishing a complete workflow from data acquisition and model training to practical verification.

[0072] 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 force-position hybrid control data acquisition device, characterized in that, include: The handheld force application module (1) is used for the user to hold and apply operating force, and to receive feedback clamping reaction force; Mounting base (2) is fixedly connected to the handheld force application module (1); The connecting mechanism (3) is fixedly connected at one end to the mounting base (2); The clamping module (4) includes a main shell assembly (41) and a gripper assembly (42). The main shell assembly (41) is fixedly connected to the other end of the connecting mechanism (3). The gripper assembly (42) is slidably mounted on the main shell assembly (41) in the opening and closing direction to clamp the object. The transmission mechanism (5), installed on the main housing assembly (41), is used to transmit the force applied by the user in the hand-held force application module (1) to the clamping module (4) and convert it into the displacement of the gripper assembly (42), and to feed back the clamping force of the gripper assembly (42) on the object to the hand-held force application module (1).

2. The force-position hybrid control data acquisition device according to claim 1, characterized in that, The handheld force application module (1) includes: Handheld stick (11); Servo motor (12) is mounted on the hand lever (11); The finger pressure plate (13) is rotatably mounted on the servo motor (12). The finger pressure plate (13) rotates and drives the gripper assembly (42) to slide through the transmission mechanism (5).

3. The force-position hybrid control data acquisition device according to claim 2, characterized in that, The gripper assembly (42) includes gripper units (421) and racks (422) connected to the gripper units (421). There are two gripper units (421) arranged opposite to each other, and the racks (422) extend along the sliding direction of the gripper assembly (42).

4. The force-position hybrid control data acquisition device according to claim 3, characterized in that, The transmission mechanism (5) includes: An actuating motor (51) is electrically connected to the servo motor (12) and is used to receive the rotation angle signal of the servo motor (12) and output driving torque; The transmission gear (52) is connected to the output end of the actuator motor (51) and meshes with the rack (422) to drive the gripper unit (421) to open and close in the sliding direction.

5. The force-position hybrid control data acquisition device according to claim 4, characterized in that, The clamping module (4) also includes: Two balance rollers (45) are rotatably mounted on the main housing assembly (41). The balance rollers (45) are mounted on the side of the rack (422) facing away from the transmission gear (52) to constrain the position of the rack (422) and keep the rack (422) meshing with the transmission gear (52).

6. The force-position hybrid control data acquisition device according to claim 3, characterized in that, The clamping module (4) also includes: The guide rail (43) is mounted on the main housing assembly (41); Two sliders (44) are provided, and both are slidably mounted on the guide rail (43). The two sliders (44) are respectively connected to the two gripper units (421), so that the gripper units (421) slide on the guide rail (43).

7. The force-position hybrid control data acquisition device according to claim 6, characterized in that, The gripper unit (421) includes: Gripper head (4211); The connecting seat (4212) is rotatably connected to the gripper head (4211), and the connecting seat (4212) is provided with a mounting groove (4213). The slider (44) is at least partially installed in the mounting groove (4213) to connect with the connecting seat (4212); the side wall portion of the connecting seat (4212) forming the mounting groove (4213) is connected to the rack (422).

8. The force-position hybrid control data acquisition device according to any one of claims 1 to 7, characterized in that, The main housing assembly (41) includes a main housing unit (411) and a mounting bracket (412) connected to the main housing unit (411); the gripper assembly (42) is slidably mounted on the main housing unit (411) in the opening and closing direction, and the transmission mechanism (5) is mounted on the main housing unit (411). The connecting mechanism (3) includes a six-dimensional force sensor (31), the first end face of which is fixedly connected to the mounting base (2), and the second end face of which is fixedly connected to the mounting bracket (412).

9. The force-position hybrid control data acquisition device according to any one of claims 1 to 7, characterized in that, The gripper assembly (42) is provided with a tactile sensor, which is used to obtain the gripping force of the gripper assembly (42) on the object.

10. The force-position hybrid control data acquisition device according to claim 9, characterized in that, 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.

11. The force-position hybrid control data acquisition device according to any one of claims 1 to 6, characterized in that, Also includes: The vision module (6) is installed on the clamping module (4) and is used to acquire image information of the object; The positioning receiving unit (7) is installed on the mounting base (2) and is used to obtain the spatial position of the force-position hybrid control data acquisition device.

12. A data acquisition device, characterized in that, include: Connecting flange (8) for connection to the robotic arm; The connecting mechanism (3) is fixedly connected at one end to the connecting flange (8); The clamping module (4) includes a main shell assembly (41) and a gripper assembly (42). The main shell assembly (41) is fixedly connected to the other end of the connecting mechanism (3). The gripper assembly (42) is slidably mounted on the main shell assembly (41) in the opening and closing direction to clamp the object. The transmission mechanism (5), installed on the main housing assembly (41), is used to transmit the force applied by the robotic arm to the clamping module (4) and convert it into the displacement of the gripper assembly (42), and to feed back the clamping force of the gripper assembly (42) on the object to the robotic arm.

13. A robotic arm, characterized in that, It includes a robotic arm body and a data acquisition device as described in claim 12 disposed at the end of the robotic arm body.

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